diff --git a/cmake/BuildiDynTree.cmake b/cmake/BuildiDynTree.cmake
index 6ddef7ed7..145fd93e9 100644
--- a/cmake/BuildiDynTree.cmake
+++ b/cmake/BuildiDynTree.cmake
@@ -20,6 +20,12 @@ if(ROBOTOLOGY_USES_PYTHON)
   list(APPEND iDynTree_OPTIONAL_CMAKE_ARGS "-DIDYNTREE_PYTHON_INSTALL_DIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
 endif()
 
+# Hack for disabling IDYNTREE_USES_IRRLICHT on vcpkg,
+# remove once irrlicht+sdl is available on vcpkg,
+# and https://github.com/robotology/robotology-superbuild-dependencies-vcpkg
+# is modified to includ it
+find_package(glfw3 QUIET)
+
 ycm_ep_helper(iDynTree TYPE GIT
               STYLE GITHUB
               REPOSITORY robotology/idyntree.git
@@ -28,7 +34,7 @@ ycm_ep_helper(iDynTree TYPE GIT
               FOLDER src
               CMAKE_ARGS -DIDYNTREE_USES_IPOPT:BOOL=ON
                          -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON
-                         -DIDYNTREE_USES_IRRLICHT:BOOL=ON
+                         -DIDYNTREE_USES_IRRLICHT:BOOL=${glfw3_FOUND}
                          -DIDYNTREE_USES_ASSIMP:BOOL=ON
                          -DCMAKE_DISABLE_FIND_PACKAGE_YARP:BOOL=ON
                          -DIDYNTREE_USES_YARP:BOOL=OFF