diff --git a/common/autoware_pyplot/package.xml b/common/autoware_pyplot/package.xml
index 1391db88cddff..af0237d0aead8 100644
--- a/common/autoware_pyplot/package.xml
+++ b/common/autoware_pyplot/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>pybind11-dev</depend>
+  <depend>python3-dev</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>