diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4721d53f3..16ab9f2c7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.9.0)
+cmake_minimum_required(VERSION 3.5.1)
 project(CARLA)
 
 include("Build/CMakeLists.txt.in")
diff --git a/Docs/how_to_build_on_linux.md b/Docs/how_to_build_on_linux.md
index 03bfea72f..661ead096 100644
--- a/Docs/how_to_build_on_linux.md
+++ b/Docs/how_to_build_on_linux.md
@@ -12,10 +12,6 @@ sudo apt-get install build-essential clang-5.0 lld-5.0 g++-7 ninja-build python
 pip install --user setuptools nose2
 ```
 
-Note that some dependencies require **CMake 3.9** or later installed in your
-machine, you can retrieve the latest version from the
-[CMake download page][cmakelink].
-
 To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
 the best configuration is to compile everything with the same compiler version
 and C++ runtime library. We use clang 5.0 and LLVM's libc++. We recommend to
diff --git a/LibCarla/cmake/CMakeLists.txt b/LibCarla/cmake/CMakeLists.txt
index 1549a8a44..88fc64242 100644
--- a/LibCarla/cmake/CMakeLists.txt
+++ b/LibCarla/cmake/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.9.0)
+cmake_minimum_required(VERSION 3.5.1)
 project(libcarla)
 
 message(STATUS "Building ${PROJECT_NAME} version ${CARLA_VERSION}")
diff --git a/LibCarla/cmake/client/CMakeLists.txt b/LibCarla/cmake/client/CMakeLists.txt
index f8aed357d..eb252bf12 100644
--- a/LibCarla/cmake/client/CMakeLists.txt
+++ b/LibCarla/cmake/client/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.9.0)
+cmake_minimum_required(VERSION 3.5.1)
 project(libcarla-client)
 
 # Install rpclib.
diff --git a/LibCarla/cmake/server/CMakeLists.txt b/LibCarla/cmake/server/CMakeLists.txt
index b09de3675..9756d73ac 100644
--- a/LibCarla/cmake/server/CMakeLists.txt
+++ b/LibCarla/cmake/server/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.9.0)
+cmake_minimum_required(VERSION 3.5.1)
 project(libcarla-server)
 
 # Install libc++ shared libraries.
diff --git a/LibCarla/cmake/test/CMakeLists.txt b/LibCarla/cmake/test/CMakeLists.txt
index 05a03da8b..0722f6b58 100644
--- a/LibCarla/cmake/test/CMakeLists.txt
+++ b/LibCarla/cmake/test/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.9.0)
+cmake_minimum_required(VERSION 3.5.1)
 project(libcarla-unit-tests)
 
 file(GLOB_RECURSE libcarla_test_sources
diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh
index 74175aeac..a88a842c5 100755
--- a/Util/BuildTools/Setup.sh
+++ b/Util/BuildTools/Setup.sh
@@ -149,6 +149,10 @@ else
 
   log "Building rpclib with libc++."
 
+  # rpclib does not use any cmake 3.9 feature. 
+  # As cmake 3.9 is not standard in Ubuntu 16.04, change cmake version to 3.5
+  sed -i s/"3.9.0"/"3.5.0"/g ${RPCLIB_BASENAME}-source/CMakeLists.txt
+
   mkdir -p ${RPCLIB_BASENAME}-libcxx-build
 
   pushd ${RPCLIB_BASENAME}-libcxx-build >/dev/null