diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0cc8f06e65..012ac8a42d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -417,28 +417,30 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 #
 option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
 
-find_package(Doxygen)
-if (DOXYGEN_FOUND)
-    # set input and output files
-    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
-    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
-
-    # request to configure the file
-    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
-
-    # note the option ALL which allows to build the docs together with the application
-    add_custom_target(doxygen ALL
-        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
-        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-		COMMENT "Generating API documentation with Doxygen"
-		DEPENDS uorb_msgs parameter_headers
-		VERBATIM
-		USES_TERMINAL)
-
-else (DOXYGEN_FOUND)
-	message("Doxygen need to be installed to generate the doxygen documentation")
-endif (DOXYGEN_FOUND)
+if (BUILD_DOXYGEN)
+	find_package(Doxygen)
+	if (DOXYGEN_FOUND)
+	    # set input and output files
+	    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
+	    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+	    # request to configure the file
+	    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
+
+	    # note the option ALL which allows to build the docs together with the application
+	    add_custom_target(doxygen ALL
+	        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
+	        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+			COMMENT "Generating documentation with Doxygen"
+			DEPENDS uorb_msgs parameters
+			VERBATIM
+			USES_TERMINAL
+			)
 
+	else()
+		message("Doxygen needs to be installed to generate documentation")
+	endif()
+endif()
 
 #=============================================================================
 # packaging