diff --git a/ansible/roles/tensorrt/README.md b/ansible/roles/tensorrt/README.md
index 2b4bc48b108..1df87cad89e 100644
--- a/ansible/roles/tensorrt/README.md
+++ b/ansible/roles/tensorrt/README.md
@@ -37,6 +37,8 @@ sudo apt-get install -y \
 libcudnn8-dev=${cudnn_version} \
 libnvinfer-dev=${tensorrt_version} \
 libnvinfer-plugin-dev=${tensorrt_version} \
+libnvinfer-headers-dev=${tensorrt_version} \
+libnvinfer-headers-plugin-dev=${tensorrt_version} \
 libnvparsers-dev=${tensorrt_version} \
 libnvonnxparsers-dev=${tensorrt_version}
 
@@ -45,5 +47,7 @@ libcudnn8-dev \
 libnvinfer-dev \
 libnvinfer-plugin-dev \
 libnvparsers-dev \
-libnvonnxparsers-dev
+libnvonnxparsers-dev \
+libnvinfer-headers-dev \
+libnvinfer-headers-plugin-dev
 ```
diff --git a/ansible/roles/tensorrt/tasks/main.yaml b/ansible/roles/tensorrt/tasks/main.yaml
index 8e01abf1e8c..5c2a49e0d3d 100644
--- a/ansible/roles/tensorrt/tasks/main.yaml
+++ b/ansible/roles/tensorrt/tasks/main.yaml
@@ -18,6 +18,8 @@
       - libcudnn8-dev={{ cudnn_version }}
       - libnvinfer-dev={{ tensorrt_version }}
       - libnvinfer-plugin-dev={{ tensorrt_version }}
+      - libnvinfer-headers-dev={{ tensorrt_version }}
+      - libnvinfer-headers-plugin-dev={{ tensorrt_version }}
       - libnvparsers-dev={{ tensorrt_version }}
       - libnvonnxparsers-dev={{ tensorrt_version }}
     allow_change_held_packages: true
@@ -47,6 +49,8 @@
     - libcudnn8-dev
     - libnvinfer-dev
     - libnvinfer-plugin-dev
+    - libnvinfer-headers-dev
+    - libnvinfer-headers-plugin-dev
     - libnvparsers-dev
     - libnvonnxparsers-dev
   when: install_devel == 'true'