diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index f463daf23..0479c0207 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -97,7 +97,7 @@ jobs:
       shell: bash -l {0}
       run: |
         # Dependencies
-        mamba install asio assimp boost eigen freetype gazebo glew glfw glm graphviz==8.* gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl vtk opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
+        mamba install asio assimp boost eigen freetype gazebo glew glfw glm graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl vtk opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
         # Python 
         mamba install python numpy swig==4.1.0 pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython gst-plugins-good gst-plugins-bad
 
diff --git a/cmake/BuildYARP.cmake b/cmake/BuildYARP.cmake
index b3c10d538..a9f7e00f9 100644
--- a/cmake/BuildYARP.cmake
+++ b/cmake/BuildYARP.cmake
@@ -48,6 +48,12 @@ if(ROBOTOLOGY_CONFIGURING_UNDER_CONDA AND APPLE
    list(APPEND YARP_OPTIONAL_CMAKE_ARGS "-DSKIP_ACE:BOOL=ON")
 endif()
 
+# Workaround for graphviz==9 failures with YARP <= 3.9
+# See https://github.com/robotology/robotology-superbuild/issues/1604
+if(ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
+  list(APPEND YARP_OPTIONAL_CMAKE_ARGS "-DYARP_COMPILE_yarpviz:BOOL=OFF")
+endif()
+
 ycm_ep_helper(YARP TYPE GIT
                    STYLE GITHUB
                    REPOSITORY robotology/yarp.git
diff --git a/doc/conda-forge.md b/doc/conda-forge.md
index ee2e145fe..96e96fb7d 100644
--- a/doc/conda-forge.md
+++ b/doc/conda-forge.md
@@ -134,12 +134,12 @@ Once you activated it, you can install packages in it. In particular the depende
 
 If you are on **Linux**, **Windows**, or **macOS** with an Intel-based processor:
 ~~~
-mamba install -c conda-forge ace asio assimp boost eigen freetype gazebo glew glfw glm "graphviz==8.*" gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl opencv portaudio qt-main sdl sdl2 sqlite tinyxml tinyxml2 spdlog lua soxr qhull cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
+mamba install -c conda-forge ace asio assimp boost eigen freetype gazebo glew glfw glm graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl opencv portaudio qt-main sdl sdl2 sqlite tinyxml tinyxml2 spdlog lua soxr qhull cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
 ~~~
 
 If you are on **macOS** with ARM-based processor:
 ~~~
-mamba install -c conda-forge asio assimp boost eigen freetype gazebo glew glfw glm "graphviz==8.*" gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl opencv portaudio qt-main sdl sdl2 sqlite tinyxml tinyxml2 spdlog lua soxr qhull cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
+mamba install -c conda-forge asio assimp boost eigen freetype gazebo glew glfw glm graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl opencv portaudio qt-main sdl sdl2 sqlite tinyxml tinyxml2 spdlog lua soxr qhull cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
 ~~~
 
 If you are on **Linux x86-64**, you also need to install also the following packages: