diff --git a/PythonAPI/carla/requirements.txt b/PythonAPI/carla/requirements.txt
index d8202e605..4bad8c939 100644
--- a/PythonAPI/carla/requirements.txt
+++ b/PythonAPI/carla/requirements.txt
@@ -1,2 +1,3 @@
 networkx
-numpy
+numpy; python_version < '3.0'
+numpy==1.18.4; python_version >= '3.0'
diff --git a/PythonAPI/examples/requirements.txt b/PythonAPI/examples/requirements.txt
index a094ef062..994145744 100644
--- a/PythonAPI/examples/requirements.txt
+++ b/PythonAPI/examples/requirements.txt
@@ -1,3 +1,4 @@
 future
-numpy
+numpy; python_version < '3.0'
+numpy==1.18.4; python_version >= '3.0'
 pygame
diff --git a/PythonAPI/util/requirements.txt b/PythonAPI/util/requirements.txt
index 5e8e527cf..14ceb46b4 100644
--- a/PythonAPI/util/requirements.txt
+++ b/PythonAPI/util/requirements.txt
@@ -1,4 +1,5 @@
-numpy
+numpy; python_version < '3.0'
+numpy==1.18.4; python_version >= '3.0'
 psutil
 py-cpuinfo
 pygame