diff --git a/bindings/matlab/CMakeLists.txt b/bindings/matlab/CMakeLists.txt
index f6f7a2b499..5c2f11bf25 100644
--- a/bindings/matlab/CMakeLists.txt
+++ b/bindings/matlab/CMakeLists.txt
@@ -76,7 +76,11 @@ macro(GET_LIBRARY_FROM_SWIG_WRAPPER i_main_file i_other_files target_name genera
         PROPERTY SWIG_DEPENDS ${i_other_files})
   else()
       if(${target_name} STREQUAL "iDynTreeMEX") 
-          matlab_add_mex(NAME ${target_name} NO_IMPLICIT_LINK_TO_MATLAB_LIBRARIES SRC ${swig_generated_sources})
+          if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.24")
+              matlab_add_mex(NAME ${target_name} NO_IMPLICIT_LINK_TO_MATLAB_LIBRARIES SRC ${swig_generated_sources})
+          else()
+              matlab_add_mex(NAME ${target_name} SRC ${swig_generated_sources})
+          endif()
       else()
           add_library(${target_name} MODULE ${swig_generated_sources})
       endif()