diff --git a/colcon_cmake/task/cmake/__init__.py b/colcon_cmake/task/cmake/__init__.py
index 730f3c4..338e6f0 100644
--- a/colcon_cmake/task/cmake/__init__.py
+++ b/colcon_cmake/task/cmake/__init__.py
@@ -9,7 +9,7 @@
 
 from colcon_core.environment_variable import EnvironmentVariable
 from colcon_core.subprocess import check_output
-from pkg_resources import parse_version
+from packaging.version import Version
 
 """Environment variable to override the CMake executable"""
 CMAKE_COMMAND_ENVIRONMENT_VARIABLE = EnvironmentVariable(
@@ -219,7 +219,7 @@ def get_visual_studio_version():
 """
 Global variable for the cached CMake version number.
 
-When valid, this will be a pkg_resources.extern.packaging.version.Version.
+When valid, this will be a packaging.version.Version.
 It may also be None when the CMake version could not be determined to avoid
 trying to determine it again.
 """
@@ -235,7 +235,7 @@ def get_cmake_version():
 
     :returns: The version as reported by `CMAKE_EXECUTABLE --version`, or None
       when the version number could not be determined
-    :rtype pkg_resources.extern.packaging.version.Version
+    :rtype packaging.version.Version
     """
     global _cached_cmake_version
     if _cached_cmake_version is False:
@@ -247,8 +247,8 @@ def _parse_cmake_version():
     """
     Parse the CMake version printed by `CMAKE_EXECUTABLE --version`.
 
-    :returns: The version parsed by pkg_resources.parse_version, or None
-    :rtype pkg_resources.extern.packaging.version.Version
+    :returns: The version parsed by packaging.version.Version, or None
+    :rtype packaging.version.Version
     """
     try:
         output = subprocess.check_output(
@@ -272,11 +272,11 @@ def _parse_cmake_version_string(version_string):
 
     :param str version_string: The version string to parse.
     :returns: The parsed version string or None on failure to parse.
-    :rtype pkg_resources.extern.packaging.version.Version
+    :rtype packaging.version.Version
     """
     # Extract just the version part of the string.
     ver_re_str = r'^(?:.*\s)?(\d+\.\d+\.\d+).*'
     ver_match = re.match(ver_re_str, version_string)
     if ver_match:
-        return parse_version(ver_match.group(1))
+        return Version(ver_match.group(1))
     return None
diff --git a/colcon_cmake/task/cmake/build.py b/colcon_cmake/task/cmake/build.py
index 0c927d6..53114c8 100644
--- a/colcon_cmake/task/cmake/build.py
+++ b/colcon_cmake/task/cmake/build.py
@@ -21,7 +21,7 @@
 from colcon_core.shell import get_command_environment
 from colcon_core.task import run
 from colcon_core.task import TaskExtensionPoint
-from pkg_resources import parse_version
+from packaging.version import Version
 
 logger = colcon_logger.getChild(__name__)
 
@@ -327,7 +327,7 @@ async def _install(self, args, env):
         cmd = [CMAKE_EXECUTABLE]
         cmake_ver = get_cmake_version()
         allow_job_args = True
-        if cmake_ver and cmake_ver >= parse_version('3.15.0'):
+        if cmake_ver and cmake_ver >= Version('3.15.0'):
             # CMake 3.15+ supports invoking `cmake --install`
             cmd += ['--install', args.build_base]
             # Job args not compatible with --install directive
diff --git a/setup.cfg b/setup.cfg
index 2fbb6c8..517c592 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -30,6 +30,7 @@ install_requires =
   # to set an environment variable when a package installs a library
   colcon-library-path
   colcon-test-result>=0.3.3
+  packaging
 packages = find:
 zip_safe = true
 
diff --git a/stdeb.cfg b/stdeb.cfg
index e092b90..a65660e 100644
--- a/stdeb.cfg
+++ b/stdeb.cfg
@@ -1,5 +1,5 @@
 [colcon-cmake]
 No-Python2:
-Depends3: cmake, python3-colcon-core (>= 0.5.6), python3-colcon-library-path, python3-colcon-test-result (>= 0.3.3)
+Depends3: cmake, python3-colcon-core (>= 0.5.6), python3-colcon-library-path, python3-colcon-test-result (>= 0.3.3), python3-packaging
 Suite: bionic focal jammy stretch buster bullseye
 X-Python3-Version: >= 3.5