diff --git a/cmake/DARTConfig.cmake.in b/cmake/DARTConfig.cmake.in
index 84450a92ab342..4145b8d4ed12c 100644
--- a/cmake/DARTConfig.cmake.in
+++ b/cmake/DARTConfig.cmake.in
@@ -10,6 +10,20 @@
 #   dart     - Main target.
 #   dart-<C> - Target for specific component (e.g., dart-collision-bullet).
 
+# Specify CMake minimum required version
+if(NOT CMAKE_MINIMUM_REQUIRED_VERSION)
+  if(MSVC)
+    cmake_minimum_required(VERSION 3.8.0)
+  else()
+    cmake_minimum_required(VERSION 3.5.1)
+  endif()
+else()
+  # Support if() IN_LIST operator
+  if(POLICY CMP0057)
+    cmake_policy(SET CMP0057 NEW)
+  endif()
+endif()
+
 #===============================================================================
 # Helper Function Definitions
 #===============================================================================
diff --git a/cmake/DARTFindBullet.cmake b/cmake/DARTFindBullet.cmake
index 0a6ece7219ef6..b99c32a3df9c9 100644
--- a/cmake/DARTFindBullet.cmake
+++ b/cmake/DARTFindBullet.cmake
@@ -12,7 +12,6 @@
 find_package(Bullet COMPONENTS BulletMath BulletCollision MODULE QUIET)
 
 if((BULLET_FOUND OR Bullet_FOUND) AND NOT TARGET Bullet)
-  cmake_policy(SET CMP0057 NEW)
   if(WIN32 AND "optimized" IN_LIST BULLET_LIBRARIES
            AND     "debug" IN_LIST BULLET_LIBRARIES)
     cmake_parse_arguments(BULLET_INTERFACE_LIBRARIES "" "" "debug;optimized"