diff --git a/scripts/build.sh b/scripts/build.sh
index df11ff8dc6266..cecfa60e1b2a5 100755
--- a/scripts/build.sh
+++ b/scripts/build.sh
@@ -176,7 +176,6 @@ if [ "$OSTYPE" = "linux-gnu" ]; then
   install_prefix_option="-DCMAKE_INSTALL_PREFIX=/usr/"
 elif [[ $OSTYPE = darwin* ]]; then
   install_prefix_option="-DCMAKE_INSTALL_PREFIX=/usr/local/ -DCMAKE_INSTALL_RPATH=/usr/local/lib/"
-  cmake_args+=" -DOpenCLHeaders_DIR=$(brew --prefix opencl-headers)/share/cmake/OpenCLHeaders -DOpenCLHeadersCpp_DIR=$(brew --prefix opencl-clhpp-headers)/share/cmake/OpenCLHeadersCpp"
 fi
 
 if [ -n "$DART_USE_SYSTEM_IMGUI" ]; then
diff --git a/setup.py b/setup.py
index e24332b0bd9c7..2cd9c5c257591 100644
--- a/setup.py
+++ b/setup.py
@@ -135,22 +135,6 @@ def build_extension(self, ext: CMakeExtension) -> None:
                     "-DCMAKE_OSX_ARCHITECTURES={}".format(";".join(archs))
                 )
 
-            # Get the location of Homebrew prefix and specify the location of OpenCL headers for macOS
-            homebrew_prefix = (
-                subprocess.check_output(["brew", "--prefix"]).decode().strip()
-            )
-            opencl_headers_dir = (
-                f"{homebrew_prefix}/opt/opencl-headers/share/cmake/OpenCLHeaders"
-            )
-            opencl_headerscpp_dir = f"{homebrew_prefix}/opt/opencl-clhpp-headers/share/cmake/OpenCLHeadersCpp"
-            cmake_args.extend(
-                [
-                    f"-DOpenCLHeaders_DIR={opencl_headers_dir}",
-                    f"-DOpenCLHeadersCpp_DIR={opencl_headerscpp_dir}",
-                    f"-DCMAKE_PREFIX_PATH={homebrew_prefix}",
-                ]
-            )
-
             print(f"[DEBUG] cmake_args: {cmake_args}")
 
         # Set CMAKE_BUILD_PARALLEL_LEVEL to control the parallel build level