diff --git a/tools/install/libdrake/test/exported_symbols_test.py b/tools/install/libdrake/test/exported_symbols_test.py
index 3f88fe93039f..ed732668da40 100644
--- a/tools/install/libdrake/test/exported_symbols_test.py
+++ b/tools/install/libdrake/test/exported_symbols_test.py
@@ -61,7 +61,6 @@
     "MessageHandler",
     "N3uWS",
     "N5ofats10any_detail",
-    "N7tinyobj",
     "Realpath",
     "WindowsError",
     "action",
diff --git a/tools/workspace/BUILD.bazel b/tools/workspace/BUILD.bazel
index 911f71715ab8..d9d37318c8c0 100644
--- a/tools/workspace/BUILD.bazel
+++ b/tools/workspace/BUILD.bazel
@@ -54,6 +54,7 @@ drake_py_binary(
         "@nlopt_internal//:__subpackages__",
         "@qhull_internal//:__subpackages__",
         "@sdformat_internal//:__subpackages__",
+        "@tinyobjloader_internal//:__subpackages__",
         "@yaml_cpp_internal//:__subpackages__",
     ],
     deps = [":module_py"],
diff --git a/tools/workspace/tinyobjloader_internal/package.BUILD.bazel b/tools/workspace/tinyobjloader_internal/package.BUILD.bazel
index bd77d17066b2..5b93503e1c1a 100644
--- a/tools/workspace/tinyobjloader_internal/package.BUILD.bazel
+++ b/tools/workspace/tinyobjloader_internal/package.BUILD.bazel
@@ -1,6 +1,6 @@
 # -*- bazel -*-
 
-load("@drake//tools/skylark:cc.bzl", "cc_library")
+load("@drake//tools/workspace:vendor_cxx.bzl", "cc_library_vendored")
 load("@drake//tools/install:install.bzl", "install")
 
 licenses(["notice"])  # MIT, ISC
@@ -9,13 +9,14 @@ package(
     default_visibility = ["//visibility:public"],
 )
 
-cc_library(
+cc_library_vendored(
     name = "tinyobjloader",
     srcs = ["tiny_obj_loader.cc"],
+    srcs_vendored = ["drake_src/tiny_obj_loader.cc"],
     hdrs = ["tiny_obj_loader.h"],
+    hdrs_vendored = ["drake_hdr/tiny_obj_loader.h"],
     defines = ["TINYOBJLOADER_USE_DOUBLE=1"],
-    copts = ["-fvisibility=hidden"],
-    includes = ["."],
+    includes = ["drake_hdr"],
     linkstatic = 1,
 )