diff --git a/iron/distribution.yaml b/iron/distribution.yaml
index 6bdfa1757b1e6..6e0026141102c 100644
--- a/iron/distribution.yaml
+++ b/iron/distribution.yaml
@@ -4672,7 +4672,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/pinocchio-release.git
-      version: 2.6.21-1
+      version: 3.3.0-1
     source:
       type: git
       url: https://github.com/stack-of-tasks/pinocchio.git