diff --git a/tools/workspace/voxelized_geometry_tools/package.BUILD.bazel b/tools/workspace/voxelized_geometry_tools/package.BUILD.bazel
index cbf3a21d7147..7946aee1122a 100644
--- a/tools/workspace/voxelized_geometry_tools/package.BUILD.bazel
+++ b/tools/workspace/voxelized_geometry_tools/package.BUILD.bazel
@@ -34,6 +34,7 @@ cc_library(
         "include/voxelized_geometry_tools/signed_distance_field_generation.hpp",  # noqa
         "include/voxelized_geometry_tools/tagged_object_collision_map.hpp",
         "include/voxelized_geometry_tools/topology_computation.hpp",
+        "include/voxelized_geometry_tools/vgt_namespace.hpp",
     ],
     includes = ["include"],
     linkstatic = True,
@@ -52,6 +53,7 @@ cc_library(
     hdrs = [
         "include/voxelized_geometry_tools/cuda_voxelization_helpers.h",
         "include/voxelized_geometry_tools/device_voxelization_interface.hpp",
+        "include/voxelized_geometry_tools/vgt_namespace.hpp",
     ],
     includes = ["include"],
     linkstatic = True,
@@ -69,6 +71,7 @@ cc_library(
     hdrs = [
         "include/voxelized_geometry_tools/device_voxelization_interface.hpp",
         "include/voxelized_geometry_tools/opencl_voxelization_helpers.h",
+        "include/voxelized_geometry_tools/vgt_namespace.hpp",
     ],
     includes = ["include"],
     linkstatic = True,
diff --git a/tools/workspace/voxelized_geometry_tools/patches/vendor.patch b/tools/workspace/voxelized_geometry_tools/patches/vendor.patch
new file mode 100644
index 000000000000..85242e3f9e69
--- /dev/null
+++ b/tools/workspace/voxelized_geometry_tools/patches/vendor.patch
@@ -0,0 +1,13 @@
+[vgt] Use hidden linker visibility
+
+This prevents ODR violations in case downstream code also links to VGT.
+
+--- include/voxelized_geometry_tools/vgt_namespace.hpp
++++ include/voxelized_geometry_tools/vgt_namespace.hpp
+@@ -17,5 +17,5 @@
+ 
+ #ifndef VGT_NAMESPACE_BEGIN
+-# define VGT_NAMESPACE_BEGIN inline namespace v1 {
++# define VGT_NAMESPACE_BEGIN inline namespace drake_vendor __attribute__ ((visibility ("hidden"))) {
+ #endif
+ 
diff --git a/tools/workspace/voxelized_geometry_tools/repository.bzl b/tools/workspace/voxelized_geometry_tools/repository.bzl
index bc297794f67b..db683668da12 100644
--- a/tools/workspace/voxelized_geometry_tools/repository.bzl
+++ b/tools/workspace/voxelized_geometry_tools/repository.bzl
@@ -10,8 +10,11 @@ def voxelized_geometry_tools_repository(
         When updating, ensure that any new unit tests are reflected in
         package.BUILD.bazel and BUILD.bazel in drake.
         """,
-        commit = "79793a1715642603fb7cba6dbf4c81e9a3bbbfa8",
-        sha256 = "c27959721290a6727d3cf12f4822b8112abbb7e16aebc679d7a429f9ed73f017",  # noqa
+        commit = "daa34feecf983a6b10b07add4a51a7e1c499b913",
+        sha256 = "ba62cb041ea05239196fd032bfde02e5cd2db2ad64d53dc6610218f8d8080742",  # noqa
         build_file = ":package.BUILD.bazel",
+        patches = [
+            ":patches/vendor.patch",
+        ],
         mirrors = mirrors,
     )