diff --git a/dart/utils/urdf/DartLoader.cpp b/dart/utils/urdf/DartLoader.cpp
index 51ee2c050bb80..3fcffb5a49935 100644
--- a/dart/utils/urdf/DartLoader.cpp
+++ b/dart/utils/urdf/DartLoader.cpp
@@ -36,9 +36,6 @@
 #include <iostream>
 #include <map>
 
-#include <urdf_parser/urdf_parser.h>
-#include <urdf_world/world.h>
-
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/BoxShape.hpp"
 #include "dart/dynamics/CylinderShape.hpp"
@@ -55,6 +52,7 @@
 #include "dart/simulation/World.hpp"
 #include "dart/utils/DartResourceRetriever.hpp"
 #include "dart/utils/urdf/BackwardCompatibility.hpp"
+#include "dart/utils/urdf/IncludeUrdf.hpp"
 #include "dart/utils/urdf/urdf_world_parser.hpp"
 
 namespace dart {
diff --git a/dart/utils/urdf/IncludeUrdf.hpp b/dart/utils/urdf/IncludeUrdf.hpp
new file mode 100644
index 0000000000000..8b298a9e8026b
--- /dev/null
+++ b/dart/utils/urdf/IncludeUrdf.hpp
@@ -0,0 +1,45 @@
+/*
+ * Copyright (c) 2011-2024, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#pragma once
+
+// clang-format off
+
+#include <dart/common/IncludeWindows.hpp>
+
+#include <urdf_model/model.h>
+#include <urdf_model/pose.h>
+#include <urdf_model/twist.h>
+#include <urdf_parser/urdf_parser.h>
+#include <urdf_world/world.h>
+
+// clang-format on
diff --git a/dart/utils/urdf/urdf_world_parser.cpp b/dart/utils/urdf/urdf_world_parser.cpp
index 0bc0aa350855a..41701859cfe9b 100644
--- a/dart/utils/urdf/urdf_world_parser.cpp
+++ b/dart/utils/urdf/urdf_world_parser.cpp
@@ -42,12 +42,9 @@
 #include <sstream>
 
 #include <tinyxml2.h>
-#include <urdf_model/model.h>
-#include <urdf_model/pose.h>
-#include <urdf_parser/urdf_parser.h>
-#include <urdf_world/world.h>
 
 #include "dart/common/Console.hpp"
+#include "dart/utils/urdf/IncludeUrdf.hpp"
 
 const bool debug = false;
 
diff --git a/dart/utils/urdf/urdf_world_parser.hpp b/dart/utils/urdf/urdf_world_parser.hpp
index 41acde5ddc09b..ff259df6efabb 100644
--- a/dart/utils/urdf/urdf_world_parser.hpp
+++ b/dart/utils/urdf/urdf_world_parser.hpp
@@ -39,14 +39,10 @@
 
 #include <string>
 
-#include <urdf_model/model.h>
-#include <urdf_model/pose.h>
-#include <urdf_model/twist.h>
-#include <urdf_world/world.h>
-
 #include "dart/common/ResourceRetriever.hpp"
 #include "dart/common/Uri.hpp"
 #include "dart/utils/urdf/BackwardCompatibility.hpp"
+#include "dart/utils/urdf/IncludeUrdf.hpp"
 
 namespace dart {
 namespace utils {