diff --git a/CHANGELOG.md b/CHANGELOG.md
index 308cacdb4..072413be5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -20,6 +20,7 @@
   * Fixed agent failures due to API changes in `is_within_distance_ahead()`
   * Fixed incorrect doppler velocity for RADAR sensor
   * Fixed documentation links
+  * Upgraded Boost to 1.72.0
 
 ## CARLA 0.9.7
   * Upgraded parameters of Unreal/CarlaUE4/Config/DefaultInput.ini to prevent mouse freeze
diff --git a/Docs/dev/build_system.md b/Docs/dev/build_system.md
index 9a360a294..ed3d00e94 100644
--- a/Docs/dev/build_system.md
+++ b/Docs/dev/build_system.md
@@ -28,7 +28,7 @@ Get and compile dependencies
 
   * llvm-7.1 (libc++ and libc++abi)
   * rpclib-2.2.1 (twice, with libstdc++ and libc++)
-  * boost-1.69 (headers only)
+  * boost-1.72.0 (headers and boost_python for libstdc++)
   * googletest-1.8.1 (with libc++)
 
 #### LibCarla
diff --git a/Util/BuildTools/Setup.bat b/Util/BuildTools/Setup.bat
index dc29c55db..fa9240b60 100644
--- a/Util/BuildTools/Setup.bat
+++ b/Util/BuildTools/Setup.bat
@@ -24,7 +24,7 @@ rem ============================================================================
 rem -- Parse arguments ---------------------------------------------------------
 rem ============================================================================
 
-set BOOST_VERSION=1.69.0
+set BOOST_VERSION=1.72.0
 set INSTALLERS_DIR=%ROOT_PATH%Util\InstallersWin\
 set VERSION_FILE=%ROOT_PATH%Util\ContentVersions.txt
 set CONTENT_DIR=%ROOT_PATH%Unreal\CarlaUE4\Content\Carla
diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh
index af097bd0a..b2751befa 100755
--- a/Util/BuildTools/Setup.sh
+++ b/Util/BuildTools/Setup.sh
@@ -69,7 +69,7 @@ unset LLVM_BASENAME
 # -- Get boost includes --------------------------------------------------------
 # ==============================================================================
 
-BOOST_VERSION=1.69.0
+BOOST_VERSION=1.72.0
 BOOST_BASENAME="boost-${BOOST_VERSION}-${CXX_TAG}"
 
 BOOST_INCLUDE=${PWD}/${BOOST_BASENAME}-install/include