diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 000b6c03..f776e5fe 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -47,7 +47,7 @@ async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 [dependencies]
 bevy = { version = "0.14.0-rc.3", default-features = false }
 nalgebra = { version = "0.32.6", features = ["convert-glam027"] }
-rapier3d = "0.20"
+rapier3d = "0.21"
 bitflags = "2.4"
 log = "0.4"
 serde = { version = "1", features = ["derive"], optional = true }