diff --git a/pkgs/gazebo/default.nix b/pkgs/gazebo/default.nix
index 4caba558d9..1135a92883 100644
--- a/pkgs/gazebo/default.nix
+++ b/pkgs/gazebo/default.nix
@@ -20,12 +20,18 @@ mkDerivation rec {
     sha256 = srcSha256;
   };
 
-  # Fix compatibility with qwt headers not in subdirectory
-  # https://github.com/osrf/gazebo/pull/2887
-  patches = lib.optional (lib.versionOlder version "11.3.0") (fetchpatch {
-    url = "https://github.com/osrf/gazebo/commit/25d3381c083a9eeafcee34ef648339a83e192676.patch";
-    sha256 = "1qixrz2jiqdc37mgcsnv562m7mzr6w0rd67fmkr5710n6dnky4y7";
-  });
+  patches =
+    # Fix compatibility with qwt headers not in subdirectory
+    # https://github.com/osrf/gazebo/pull/2887
+    lib.optional (lib.versionOlder version "11.3.0") (fetchpatch {
+      url = "https://github.com/osrf/gazebo/commit/25d3381c083a9eeafcee34ef648339a83e192676.patch";
+      sha256 = "1qixrz2jiqdc37mgcsnv562m7mzr6w0rd67fmkr5710n6dnky4y7";
+    }) ++
+    # Fix pkgconfig prefix path
+    lib.optional (lib.versionAtLeast version "11.4.0") (fetchpatch {
+      url = "https://github.com/osrf/gazebo/commit/a7e6e1c1de46c3eb7eecab0de1263f7360ef9f42.patch";
+      sha256 = "09y5ggx74mc70np7x1cj8p936jqkx4f6nvly0qscsjrv7x6gsb6j";
+    });
 
   enableParallelBuilding = true;