diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4bdab09fb4842..f6ddabeeab4d4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -58,6 +58,7 @@
   * Replaced M_PI with dart::math::constantsd::pi(): [#1367](https://github.com/dartsim/dart/pull/1367)
   * 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)
 
 ### [DART 6.9.2 (2019-08-16)](https://github.com/dartsim/dart/milestone/60?closed=1)
 
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
 #===============================================================================