diff --git a/.github/workflows/Dockerfile.cuda b/.github/workflows/Dockerfile.cuda
index 3631fb28cd1..19ff85fe145 100644
--- a/.github/workflows/Dockerfile.cuda
+++ b/.github/workflows/Dockerfile.cuda
@@ -134,6 +134,7 @@ RUN mkdir build \
           -DBUILD_CUDA_MODULE=ON \
           -DBUILD_COMMON_CUDA_ARCHS=ON \
           -DBUILD_COMMON_ISPC_ISAS=ON \
+          -DGLIBCXX_USE_CXX11_ABI=$( { [ "$BUILD_PYTORCH_OPS" == ON ] || [ "$BUILD_TENSORFLOW_OPS" == ON ]; } && echo OFF || echo ON) \
           -DBUILD_TENSORFLOW_OPS="${BUILD_TENSORFLOW_OPS}" \
           -DBUILD_PYTORCH_OPS="${BUILD_PYTORCH_OPS}" \
           -DBUILD_UNIT_TESTS=ON \
diff --git a/.github/workflows/Dockerfile.openblas b/.github/workflows/Dockerfile.openblas
index cfe00668801..f7449d62076 100644
--- a/.github/workflows/Dockerfile.openblas
+++ b/.github/workflows/Dockerfile.openblas
@@ -102,6 +102,7 @@ RUN mkdir build \
     -DCMAKE_C_COMPILER=gcc \
     -DCMAKE_CXX_COMPILER=g++ \
     -DBUILD_FILAMENT_FROM_SOURCE=ON \
+    -DGLIBCXX_USE_CXX11_ABI=ON \
     -DBUILD_TENSORFLOW_OPS=OFF \
     -DBUILD_PYTORCH_OPS=OFF \
     -DBUILD_UNIT_TESTS=ON \
diff --git a/3rdparty/librealsense/librealsense.cmake b/3rdparty/librealsense/librealsense.cmake
index 655359751c2..c6b4e358e32 100644
--- a/3rdparty/librealsense/librealsense.cmake
+++ b/3rdparty/librealsense/librealsense.cmake
@@ -29,7 +29,7 @@ ExternalProject_Add(
         -DUSE_EXTERNAL_USB=ON
         # Syncing GLIBCXX_USE_CXX11_ABI for MSVC causes problems, but directly
         # checking CXX_COMPILER_ID is not supported.
-        $<IF:$<PLATFORM_ID:Windows>,"",-DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=${GLIBCXX_USE_CXX11_ABI}>
+        $<IF:$<PLATFORM_ID:Windows>,"",-DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=$<BOOL:${GLIBCXX_USE_CXX11_ABI}>>
         $<$<PLATFORM_ID:Darwin>:-DBUILD_WITH_OPENMP=OFF>
         $<$<PLATFORM_ID:Darwin>:-DHWM_OVER_XU=OFF>
         $<$<PLATFORM_ID:Windows>:-DBUILD_WITH_STATIC_CRT=${STATIC_WINDOWS_RUNTIME}>
diff --git a/3rdparty/webrtc/CMakeLists.txt b/3rdparty/webrtc/CMakeLists.txt
index 7a15558c64f..34d052ae4df 100644
--- a/3rdparty/webrtc/CMakeLists.txt
+++ b/3rdparty/webrtc/CMakeLists.txt
@@ -30,7 +30,7 @@ include(CMakeDependentOption)
 cmake_dependent_option(WEBRTC_IS_DEBUG
     "WebRTC Debug build. Use ON for Win32 Open3D Debug." OFF
     "NOT CMAKE_BUILD_TYPE STREQUAL Debug OR NOT WIN32" ON)
-option(GLIBCXX_USE_CXX11_ABI "Set -D_GLIBCXX_USE_CXX11_ABI=1" OFF)
+option(GLIBCXX_USE_CXX11_ABI "Set -D_GLIBCXX_USE_CXX11_ABI=1" ON)
 
 # Set paths
 set(WEBRTC_ROOT ${PROJECT_SOURCE_DIR})
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ae4b1a9e7b6..87f0d828247 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,7 +51,7 @@ if(BUILD_SHARED_LIBS)
 else()
     option(STATIC_WINDOWS_RUNTIME "Use static (MT/MTd) Windows runtime"      ON )
 endif()
-option(GLIBCXX_USE_CXX11_ABI      "Set -D_GLIBCXX_USE_CXX11_ABI=1"           OFF)
+option(GLIBCXX_USE_CXX11_ABI      "Set -D_GLIBCXX_USE_CXX11_ABI=1"           ON)
 if(BUILD_GUI AND (WIN32 OR UNIX AND NOT LINUX_AARCH64))
     option(BUILD_WEBRTC           "Build WebRTC visualizer"                  ON )
 else()
@@ -408,11 +408,6 @@ add_custom_target(open3d_downloads
 # Folder view for project files
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
-# Check if the compiler defines the _GLIBCXX_USE_CXX11_ABI macro
-include(CheckCXXSourceCompiles)
-check_cxx_source_compiles("#include <cxxabi.h>
-int main() { return _GLIBCXX_USE_CXX11_ABI; }" HAS_GLIBCXX_USE_CXX11_ABI)
-
 macro(add_source_group module_name)
     file(GLOB MODULE_HEADER_FILES "${module_name}/*.h")
     source_group("Header Files\\${module_name}" FILES ${MODULE_HEADER_FILES})
diff --git a/docs/compilation.rst b/docs/compilation.rst
index d01a9cc24a5..a06a218d1ea 100644
--- a/docs/compilation.rst
+++ b/docs/compilation.rst
@@ -286,6 +286,7 @@ for all supported ML frameworks and bundling the high level Open3D-ML code.
 
     # In the build directory
     cmake -DBUILD_CUDA_MODULE=ON \
+          -DGLIBCXX_USE_CXX11_ABI=OFF \
           -DBUILD_PYTORCH_OPS=ON \
           -DBUILD_TENSORFLOW_OPS=ON \
           -DBUNDLE_OPEN3D_ML=ON \
@@ -295,10 +296,10 @@ for all supported ML frameworks and bundling the high level Open3D-ML code.
     make -j install-pip-package
 
 .. note::
-    Importing Python libraries compiled with different CXX ABI may cause segfaults
-    in regex. https://stackoverflow.com/q/51382355/1255535. By default, PyTorch
-    and TensorFlow Python releases use the older CXX ABI; while when they are
-    compiled from source, newer ABI is enabled by default.
+    On Linux, importing Python libraries compiled with different CXX ABI may
+    cause segfaults in regex. https://stackoverflow.com/q/51382355/1255535. By
+    default, PyTorch and TensorFlow Python releases use the older CXX ABI; while
+    when compiled from source, the newer CXX11 ABI is enabled by default.
 
     When releasing Open3D as a Python package, we set
     ``-DGLIBCXX_USE_CXX11_ABI=OFF`` and compile all dependencies from source,
diff --git a/util/ci_utils.sh b/util/ci_utils.sh
index 9de23c0c8cf..800b6be1871 100644
--- a/util/ci_utils.sh
+++ b/util/ci_utils.sh
@@ -121,6 +121,10 @@ build_all() {
 
     mkdir -p build
     cd build
+    GLIBCXX_USE_CXX11_ABI=ON
+    if [ "$BUILD_PYTORCH_OPS" == ON ] || [ "$BUILD_TENSORFLOW_OPS" == ON ]; then
+        GLIBCXX_USE_CXX11_ABI=OFF
+    fi
 
     cmakeOptions=(
         -DBUILD_SHARED_LIBS="$SHARED"
@@ -129,6 +133,7 @@ build_all() {
         -DBUILD_CUDA_MODULE="$BUILD_CUDA_MODULE"
         -DBUILD_COMMON_CUDA_ARCHS=ON
         -DBUILD_COMMON_ISPC_ISAS=ON
+        -DGLIBCXX_USE_CXX11_ABI="$GLIBCXX_USE_CXX11_ABI"
         -DBUILD_TENSORFLOW_OPS="$BUILD_TENSORFLOW_OPS"
         -DBUILD_PYTORCH_OPS="$BUILD_PYTORCH_OPS"
         -DCMAKE_INSTALL_PREFIX="$OPEN3D_INSTALL_DIR"
@@ -198,6 +203,7 @@ build_pip_conda_package() {
         "-DBUILD_COMMON_ISPC_ISAS=ON"
         "-DBUILD_AZURE_KINECT=$BUILD_AZURE_KINECT"
         "-DBUILD_LIBREALSENSE=ON"
+        "-DGLIBCXX_USE_CXX11_ABI=OFF"
         "-DBUILD_TENSORFLOW_OPS=ON"
         "-DBUILD_PYTORCH_OPS=ON"
         "-DBUILD_FILAMENT_FROM_SOURCE=$BUILD_FILAMENT_FROM_SOURCE"
@@ -226,8 +232,8 @@ build_pip_conda_package() {
         rm -r "${rebuild_list[@]}" || true
         set -x # Echo commands on
         cmake -DBUILD_CUDA_MODULE=ON \
-              -DBUILD_COMMON_CUDA_ARCHS=ON \
-              "${cmakeOptions[@]}" ..
+            -DBUILD_COMMON_CUDA_ARCHS=ON \
+            "${cmakeOptions[@]}" ..
         set +x # Echo commands off
     fi
     echo
@@ -364,7 +370,7 @@ install_docs_dependencies() {
     command -v python
     python -V
     python -m pip install -U -q "wheel==$WHEEL_VER" \
-                                "pip==$PIP_VER"
+        "pip==$PIP_VER"
     python -m pip install -U -q "yapf==$YAPF_VER"
     python -m pip install -r "${OPEN3D_SOURCE_ROOT}/docs/requirements.txt"
     python -m pip install -r "${OPEN3D_SOURCE_ROOT}/python/requirements.txt"
@@ -407,6 +413,7 @@ build_docs() {
         "-DWITH_OPENMP=ON"
         "-DBUILD_AZURE_KINECT=ON"
         "-DBUILD_LIBREALSENSE=ON"
+        "-DGLIBCXX_USE_CXX11_ABI=OFF"
         "-DBUILD_TENSORFLOW_OPS=ON"
         "-DBUILD_PYTORCH_OPS=ON"
         "-DBUNDLE_OPEN3D_ML=ON"