diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8ec77d576df34..926adb0ec68a4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -60,6 +60,7 @@
   * Enabled octomap support on macOS: [#1078](https://github.com/dartsim/dart/pull/1078)
   * Removed dependency on Boost::regex: [#1412](https://github.com/dartsim/dart/pull/1412)
   * Added support new if() IN_LIST operator in DARTConfig.cmake: [#1434](https://github.com/dartsim/dart/pull/1434)
+  * Updated Findfcl.cmake to support FCL 0.6: [#1441](https://github.com/dartsim/dart/pull/1441)
 
 ### [DART 6.9.2 (2019-08-16)](https://github.com/dartsim/dart/milestone/60?closed=1)
 
diff --git a/cmake/Findfcl.cmake b/cmake/Findfcl.cmake
index 145bfc3fc4aea..e49de2cadb2f9 100644
--- a/cmake/Findfcl.cmake
+++ b/cmake/Findfcl.cmake
@@ -13,9 +13,6 @@
 #   FCL_INCLUDE_DIRS
 #   FCL_LIBRARIES
 #   FCL_VERSION
-#
-# and the following targets:
-#   fcl
 
 find_package(PkgConfig QUIET)
 
@@ -23,17 +20,11 @@ find_package(PkgConfig QUIET)
 pkg_check_modules(PC_FCL fcl QUIET)
 
 # Include directories
-if(PC_FCL_VERSION VERSION_LESS 0.6.0)
-  find_path(FCL_INCLUDE_DIRS
-      NAMES fcl/collision.h
-      HINTS ${PC_FCL_INCLUDEDIR}
-      PATHS "${CMAKE_INSTALL_PREFIX}/include")
-else()
-  find_path(FCL_INCLUDE_DIRS
-      NAMES fcl/narrowphase/collision.h
-      HINTS ${PC_FCL_INCLUDEDIR}
-      PATHS "${CMAKE_INSTALL_PREFIX}/include")
-endif()
+find_path(FCL_INCLUDE_DIRS
+    NAMES fcl/collision.h  # for FCL < 0.6
+    NAMES fcl/narrowphase/collision.h
+    HINTS ${PC_FCL_INCLUDEDIR}
+    PATHS "${CMAKE_INSTALL_PREFIX}/include")
 
 # Libraries
 if(MSVC)