diff --git a/solvers/mathematical_program_doxygen.h b/solvers/mathematical_program_doxygen.h
index 26998949424d..a5a36c9b88d3 100644
--- a/solvers/mathematical_program_doxygen.h
+++ b/solvers/mathematical_program_doxygen.h
@@ -138,7 +138,9 @@
  * </table>
  *
  * † This is a commercial solver which requires a license
- * (note that some have free licenses for academics).
+ * (note that some have free licenses for academics). See <a
+ * href="https://drake.mit.edu/bazel.html#proprietary-solvers"> the build system
+ * documentation</a> for details.
  *
  * ‡ <a href="https://drake.mit.edu/installation.html">Drake's pre-compiled
  * binary releases</a> incorporate a private build of SNOPT that does not
@@ -198,7 +200,9 @@
  * </table>
  *
  * † This is a commercial solver which requires a license
- * (note that some have free licenses for academics).
+ * (note that some have free licenses for academics). See <a
+ * href="https://drake.mit.edu/bazel.html#proprietary-solvers"> the build system
+ * documentation</a> for details.
  *
  * ♦ A preferred solver for the given category.
  *
@@ -241,7 +245,9 @@
  * </table>
  *
  * † This is a commercial solver which requires a license
- * (note that some have free licenses for academics).
+ * (note that some have free licenses for academics). See <a
+ * href="https://drake.mit.edu/bazel.html#proprietary-solvers"> the build system
+ * documentation</a> for details.
  *
  * ‡ <a href="https://drake.mit.edu/installation.html">Drake's pre-compiled
  * binary releases</a> incorporate a private build of SNOPT that does not