diff --git a/humble/distribution.yaml b/humble/distribution.yaml
index 3430f7d7c78b7..8b624855f2341 100644
--- a/humble/distribution.yaml
+++ b/humble/distribution.yaml
@@ -6356,7 +6356,7 @@ repositories:
       tags:
         release: release/humble/{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