diff --git a/shared_queues_vendor/CMakeLists.txt b/shared_queues_vendor/CMakeLists.txt
index 0daf46722e..2c54eaba10 100644
--- a/shared_queues_vendor/CMakeLists.txt
+++ b/shared_queues_vendor/CMakeLists.txt
@@ -3,6 +3,11 @@ project(shared_queues_vendor)
 
 find_package(ament_cmake REQUIRED)
 
+# Avoid DOWNLOAD_EXTRACT_TIMESTAMP warning for CMake >= 3.24
+if (POLICY CMP0135)
+  cmake_policy(SET CMP0135 NEW)
+endif()
+
 include(ExternalProject)
 # Single producer single consumer queue by moodycamel - header only, don't build, install
 ExternalProject_Add(ext-singleproducerconsumer
diff --git a/sqlite3_vendor/CMakeLists.txt b/sqlite3_vendor/CMakeLists.txt
index b115233b96..e8af586e0b 100644
--- a/sqlite3_vendor/CMakeLists.txt
+++ b/sqlite3_vendor/CMakeLists.txt
@@ -3,6 +3,11 @@ project(sqlite3_vendor)
 
 find_package(ament_cmake REQUIRED)
 
+# Avoid DOWNLOAD_EXTRACT_TIMESTAMP warning for CMake >= 3.24
+if (POLICY CMP0135)
+  cmake_policy(SET CMP0135 NEW)
+endif()
+
 option(FORCE_BUILD_VENDOR_PKG
   "Build SQLite3 from source, even if system-installed package is available"
   OFF)