diff --git a/cmake/DARTFindfcl.cmake b/cmake/DARTFindfcl.cmake
index 7f0d39b78f8cf..dc0bfdcbe0256 100644
--- a/cmake/DARTFindfcl.cmake
+++ b/cmake/DARTFindfcl.cmake
@@ -6,9 +6,9 @@
 #
 # This file is provided under the "BSD-style" License
 
-find_package(fcl 0.5.0 CONFIG)
+find_package(fcl 0.7.0 CONFIG)
 if(NOT FCL_FOUND AND NOT fcl_FOUND)
-  find_package(fcl 0.5.0 REQUIRED MODULE)
+  find_package(fcl 0.7.0 REQUIRED MODULE)
 endif()
 
 # Set target fcl if not set
diff --git a/dart/collision/fcl/BackwardCompatibility.cpp b/dart/collision/fcl/BackwardCompatibility.cpp
index 4ea5959050e87..af15ff93d3db8 100644
--- a/dart/collision/fcl/BackwardCompatibility.cpp
+++ b/dart/collision/fcl/BackwardCompatibility.cpp
@@ -39,65 +39,41 @@ namespace fcl {
 //==============================================================================
 double length(const dart::collision::fcl::Vector3& t)
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   return t.norm();
-#else
-  return t.length();
-#endif
 }
 
 //==============================================================================
 double length2(const dart::collision::fcl::Vector3& t)
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   return t.squaredNorm();
-#else
-  return t.sqrLength();
-#endif
 }
 
 //==============================================================================
 dart::collision::fcl::Vector3 getTranslation(
     const dart::collision::fcl::Transform3& T)
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   return T.translation();
-#else
-  return T.getTranslation();
-#endif
 }
 
 //==============================================================================
 void setTranslation(
     dart::collision::fcl::Transform3& T, const dart::collision::fcl::Vector3& t)
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   T.translation() = t;
-#else
-  T.setTranslation(t);
-#endif
 }
 
 //==============================================================================
 dart::collision::fcl::Matrix3 getRotation(
     const dart::collision::fcl::Transform3& T)
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   return T.linear();
-#else
-  return T.getRotation();
-#endif
 }
 
 //==============================================================================
 void setRotation(
     dart::collision::fcl::Transform3& T, const dart::collision::fcl::Matrix3& R)
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   T.linear() = R;
-#else
-  T.setRotation(R);
-#endif
 }
 
 //==============================================================================
@@ -107,7 +83,6 @@ void setEulerZYX(
     double eulerY,
     double eulerZ)
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   double ci(cos(eulerX));
   double cj(cos(eulerY));
   double ch(cos(eulerZ));
@@ -124,9 +99,6 @@ void setEulerZYX(
          cj * sh, sj * ss + cc, sj * cs - sc,
          -sj,     cj * si,      cj * ci;
   // clang-format on
-#else
-  rot.setEulerZYX(eulerX, eulerY, eulerZ);
-#endif
 }
 
 //==============================================================================
@@ -134,11 +106,7 @@ dart::collision::fcl::Vector3 transform(
     const dart::collision::fcl::Transform3& t,
     const dart::collision::fcl::Vector3& v)
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   return t * v;
-#else
-  return t.transform(v);
-#endif
 }
 
 } // namespace fcl
diff --git a/dart/collision/fcl/BackwardCompatibility.hpp b/dart/collision/fcl/BackwardCompatibility.hpp
index 247ff90706fd8..05947da90af97 100644
--- a/dart/collision/fcl/BackwardCompatibility.hpp
+++ b/dart/collision/fcl/BackwardCompatibility.hpp
@@ -50,67 +50,27 @@
   (FCL_MINOR_VERSION < y || (FCL_MINOR_VERSION <= y))))
 // clang-format on
 
-#include <fcl/config.h>
-
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
-
-  #include <fcl/geometry/bvh/BVH_model.h>
-  #include <fcl/geometry/geometric_shape_to_BVH_model.h>
-  #include <fcl/math/bv/OBBRSS.h>
-  #include <fcl/math/bv/utility.h>
-  #include <fcl/math/geometry.h>
-  #include <fcl/narrowphase/collision.h>
-  #include <fcl/narrowphase/collision_object.h>
-  #include <fcl/narrowphase/distance.h>
-
-#else
-
-  #include <fcl/BV/OBBRSS.h>
-  #include <fcl/BVH/BVH_model.h>
-  #include <fcl/collision.h>
-  #include <fcl/collision_data.h>
-  #include <fcl/collision_object.h>
-  #include <fcl/distance.h>
-  #include <fcl/math/matrix_3f.h>
-  #include <fcl/math/transform.h>
-  #include <fcl/math/vec_3f.h>
-  #include <fcl/shape/geometric_shape_to_BVH_model.h>
-
-#endif // FCL_VERSION_AT_LEAST(0,6,0)
-
 #include <fcl/broadphase/broadphase_dynamic_AABB_tree.h>
+#include <fcl/config.h>
+#include <fcl/geometry/bvh/BVH_model.h>
+#include <fcl/geometry/geometric_shape_to_BVH_model.h>
+#include <fcl/math/bv/OBBRSS.h>
+#include <fcl/math/bv/utility.h>
+#include <fcl/math/geometry.h>
+#include <fcl/narrowphase/collision.h>
+#include <fcl/narrowphase/collision_object.h>
+#include <fcl/narrowphase/distance.h>
 
 #if HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
-  #if FCL_VERSION_AT_LEAST(0, 6, 0)
-    #include <fcl/geometry/octree/octree.h>
-  #else
-    #include <fcl/octree.h>
-  #endif // FCL_VERSION_AT_LEAST(0,6,0)
-#endif   // HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
+  #include <fcl/geometry/octree/octree.h>
+#endif // HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
 
 #include <memory>
 
-/// \deprecated Use std::shared_ptr() instead
-template <class T>
-using fcl_shared_ptr = std::shared_ptr<T>;
-
-/// \deprecated Use std::weak_ptr() instead
-template <class T>
-using fcl_weak_ptr = std::weak_ptr<T>;
-
-/// \deprecated Use std::make_shared() instead
-template <class T, class... Args>
-DART_DEPRECATED(6.13)
-std::shared_ptr<T> fcl_make_shared(Args&&... args)
-{
-  return std::make_shared<T>(std::forward<Args>(args)...);
-}
-
 namespace dart {
 namespace collision {
 namespace fcl {
 
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
 // Geometric fundamentals
 using Vector3 = ::fcl::Vector3<double>;
 using Matrix3 = ::fcl::Matrix3<double>;
@@ -122,9 +82,9 @@ using Cone = ::fcl::Cone<double>;
 using Ellipsoid = ::fcl::Ellipsoid<double>;
 using Halfspace = ::fcl::Halfspace<double>;
 using Sphere = ::fcl::Sphere<double>;
-  #if HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
+#if HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
 using OcTree = ::fcl::OcTree<double>;
-  #endif // HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
+#endif // HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
 // Collision objects
 using CollisionObject = ::fcl::CollisionObject<double>;
 using CollisionGeometry = ::fcl::CollisionGeometry<double>;
@@ -136,35 +96,6 @@ using CollisionResult = ::fcl::CollisionResult<double>;
 using DistanceRequest = ::fcl::DistanceRequest<double>;
 using DistanceResult = ::fcl::DistanceResult<double>;
 using Contact = ::fcl::Contact<double>;
-#else
-// Geometric fundamentals
-using Vector3 = ::fcl::Vec3f;
-using Matrix3 = ::fcl::Matrix3f;
-using Transform3 = ::fcl::Transform3f;
-// Geometric primitives
-using Box = ::fcl::Box;
-using Cylinder = ::fcl::Cylinder;
-using Cone = ::fcl::Cone;
-using Halfspace = ::fcl::Halfspace;
-using Sphere = ::fcl::Sphere;
-  #if HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
-using OcTree = ::fcl::OcTree;
-  #endif // HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
-// Collision objects
-using CollisionObject = ::fcl::CollisionObject;
-using CollisionGeometry = ::fcl::CollisionGeometry;
-using DynamicAABBTreeCollisionManager = ::fcl::DynamicAABBTreeCollisionManager;
-using OBBRSS = ::fcl::OBBRSS;
-using CollisionRequest = ::fcl::CollisionRequest;
-using CollisionResult = ::fcl::CollisionResult;
-using DistanceRequest = ::fcl::DistanceRequest;
-using DistanceResult = ::fcl::DistanceResult;
-using Contact = ::fcl::Contact;
-#endif
-
-#if !FCL_VERSION_AT_LEAST(0, 6, 0)
-using Ellipsoid = ::fcl::Ellipsoid;
-#endif
 
 /// Returns norm of a 3-dim vector
 double length(const dart::collision::fcl::Vector3& t);
@@ -174,11 +105,7 @@ double length2(const dart::collision::fcl::Vector3& t);
 
 [[nodiscard]] inline dart::collision::fcl::Transform3 getTransform3Identity()
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   return dart::collision::fcl::Transform3::Identity();
-#else
-  return dart::collision::fcl::Transform3();
-#endif
 }
 
 /// Returns translation component of a transform
diff --git a/dart/collision/fcl/FCLCollisionDetector.cpp b/dart/collision/fcl/FCLCollisionDetector.cpp
index ae3363d995cc7..18f514aa9ffc9 100644
--- a/dart/collision/fcl/FCLCollisionDetector.cpp
+++ b/dart/collision/fcl/FCLCollisionDetector.cpp
@@ -503,19 +503,11 @@ ::fcl::BVHModel<BV>* createPyramid(
   const double front = -d / 2;
   const double back = d / 2;
 
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   points[0] << 0, 0, hTop;
   points[1] << right, back, hBottom;
   points[2] << left, back, hBottom;
   points[3] << left, front, hBottom;
   points[4] << right, front, hBottom;
-#else
-  points[0].setValue(0, 0, hTop);
-  points[1].setValue(right, back, hBottom);
-  points[2].setValue(left, back, hBottom);
-  points[3].setValue(left, front, hBottom);
-  points[4].setValue(right, front, hBottom);
-#endif
 
   faces[0].set(0, 1, 2);
   faces[1].set(0, 2, 3);
@@ -525,11 +517,7 @@ ::fcl::BVHModel<BV>* createPyramid(
   faces[5].set(1, 4, 3);
 
   for (unsigned int i = 0; i < points.size(); ++i) {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
     points[i] = pose * points[i];
-#else
-    points[i] = pose.transform(points[i]);
-#endif
   }
 
   model->beginModel();
diff --git a/dart/collision/fcl/FCLTypes.cpp b/dart/collision/fcl/FCLTypes.cpp
index 96cd43da2d397..888b4311d457f 100644
--- a/dart/collision/fcl/FCLTypes.cpp
+++ b/dart/collision/fcl/FCLTypes.cpp
@@ -35,60 +35,25 @@
 namespace dart {
 namespace collision {
 
-#if !FCL_VERSION_AT_LEAST(0, 6, 0)
-//==============================================================================
-dart::collision::fcl::Vector3 FCLTypes::convertVector3(
-    const Eigen::Vector3d& _vec)
-{
-  return dart::collision::fcl::Vector3(_vec[0], _vec[1], _vec[2]);
-}
-#endif
-
 //==============================================================================
 Eigen::Vector3d FCLTypes::convertVector3(
     const dart::collision::fcl::Vector3& _vec)
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   return _vec;
-#else
-  return Eigen::Vector3d(_vec[0], _vec[1], _vec[2]);
-#endif
 }
 
 //==============================================================================
 dart::collision::fcl::Matrix3 FCLTypes::convertMatrix3x3(
     const Eigen::Matrix3d& _R)
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   return _R;
-#else
-  return dart::collision::fcl::Matrix3(
-      _R(0, 0),
-      _R(0, 1),
-      _R(0, 2),
-      _R(1, 0),
-      _R(1, 1),
-      _R(1, 2),
-      _R(2, 0),
-      _R(2, 1),
-      _R(2, 2));
-#endif
 }
 
 //==============================================================================
 dart::collision::fcl::Transform3 FCLTypes::convertTransform(
     const Eigen::Isometry3d& _T)
 {
-#if FCL_VERSION_AT_LEAST(0, 6, 0)
   return _T;
-#else
-  dart::collision::fcl::Transform3 trans;
-
-  trans.setTranslation(convertVector3(_T.translation()));
-  trans.setRotation(convertMatrix3x3(_T.linear()));
-
-  return trans;
-#endif
 }
 
 } // namespace collision
diff --git a/dart/collision/fcl/FCLTypes.hpp b/dart/collision/fcl/FCLTypes.hpp
index c4c7bde9e891b..0ab8b4afbadff 100644
--- a/dart/collision/fcl/FCLTypes.hpp
+++ b/dart/collision/fcl/FCLTypes.hpp
@@ -43,11 +43,6 @@ namespace collision {
 class FCLTypes
 {
 public:
-#if !FCL_VERSION_AT_LEAST(0, 6, 0)
-  /// Convert Eigen vector3 type to FCL vector3 type
-  static dart::collision::fcl::Vector3 convertVector3(
-      const Eigen::Vector3d& _vec);
-#endif
   /// Convert FCL vector3 type to Eigen vector3 type
   static Eigen::Vector3d convertVector3(
       const dart::collision::fcl::Vector3& _vec);
diff --git a/docs/readthedocs/developer_guide/build.rst b/docs/readthedocs/developer_guide/build.rst
index 5884417f28860..371c21aad3f42 100644
--- a/docs/readthedocs/developer_guide/build.rst
+++ b/docs/readthedocs/developer_guide/build.rst
@@ -143,8 +143,14 @@ Here's a summary of the dependencies required to build DART (WIP):
 +------------+----------+---------+--------------+-------+
 | Eigen      | Yes      | Runtime | 3.4.0        |       |
 +------------+----------+---------+--------------+-------+
+| FCL        | Yes      | Runtime | 0.7.0        |       |
++------------+----------+---------+--------------+-------+
+| fmt        | Yes      | Runtime | 8.1.1        |       |
++------------+----------+---------+--------------+-------+
 | Bullet     | No       | Runtime | 3.06         |       |
 +------------+----------+---------+--------------+-------+
+| Ipopt      | No       | Runtime | 3.11.9       |       |
++------------+----------+---------+--------------+-------+
 
 Clone the DART Repository
 ~~~~~~~~~~~~~~~~~~~~~~~~~