diff --git a/CHANGELOG.md b/CHANGELOG.md
index 715dfeca..02adbdbb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -23,6 +23,7 @@ All notable changes to this project will be documented in this file.
 
 - CICD: Update ruff to 0.4.3
 - Configuration accepts list of Control Barrier Functions
+- Update to Pinocchio 3 with 2.7 backward compatibility
 
 ### Fixed
 
diff --git a/doc/conf.py b/doc/conf.py
index c8a4eafe..d47e3bcd 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -39,7 +39,7 @@
 # You can specify multiple suffix as a list of string:
 #
 # source_suffix = ['.rst', '.md']
-source_suffix = ".rst"
+source_suffix = {'.rst': 'restructuredtext'}
 
 # The encoding of source files.
 #
@@ -341,7 +341,7 @@
 nitpicky = True
 
 nitpick_ignore = [
-    ("py:class", "pinocchio.pinocchio_pywrap.SE3"),
+    ("py:class", "pinocchio.pinocchio_pywrap_default.SE3"),
     ("py:data", "typing.Optional"),
     ("py:data", "typing.Tuple"),
     ("py:data", "typing.Union"),
diff --git a/doc/environment.yml b/doc/environment.yml
index 00f5a9f1..150039ef 100644
--- a/doc/environment.yml
+++ b/doc/environment.yml
@@ -2,7 +2,7 @@ name: pink
 channels:
     - conda-forge
 dependencies:
-    - pinocchio <3
+    - pinocchio >=3.0.0
     - pink
     - pip >=21.3.1
     - pip:
diff --git a/pink/visualization.py b/pink/visualization.py
index aaee334c..cf9629a8 100644
--- a/pink/visualization.py
+++ b/pink/visualization.py
@@ -7,11 +7,12 @@
 """Visualization helpers."""
 
 import pinocchio as pin
+from pinocchio import visualize
 
 
 def start_meshcat_visualizer(
     robot: pin.RobotWrapper,
-) -> pin.visualize.MeshcatVisualizer:
+) -> visualize.MeshcatVisualizer:
     """Open a MeshCat visualizer in a web browser.
 
     Args:
@@ -20,7 +21,7 @@ def start_meshcat_visualizer(
     Returns:
         MeshCat visualizer.
     """
-    viz = pin.visualize.MeshcatVisualizer(
+    viz = visualize.MeshcatVisualizer(
         robot.model, robot.collision_model, robot.visual_model
     )
     robot.setVisualizer(viz, init=False)