diff --git a/pkgs/by-name/pi/pinocchio/package.nix b/pkgs/by-name/pi/pinocchio/package.nix
index 7284be49df7c..7b6a9048ede1 100644
--- a/pkgs/by-name/pi/pinocchio/package.nix
+++ b/pkgs/by-name/pi/pinocchio/package.nix
@@ -21,13 +21,13 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "pinocchio";
-  version = "3.2.0";
+  version = "3.3.0";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
     repo = "pinocchio";
     rev = "v${finalAttrs.version}";
-    hash = "sha256-8V+n1TwFojXKOVkGG8k9aXVadt2NBFlZKba93L+NRNU=";
+    hash = "sha256-8lRGdtN3V0pfRH3f70H8n2pt5CGQkUY1wKg9gUY0toQ=";
   };
 
   outputs = [
@@ -54,13 +54,6 @@ stdenv.mkDerivation (finalAttrs: {
     export MPLCONFIGDIR=$(mktemp -d)
   '';
 
-  # CMAKE_BUILD_TYPE defaults to Release in this package,
-  # which enable -O3, which break some tests
-  # ref. https://github.com/stack-of-tasks/pinocchio/issues/2304#issuecomment-2231018300
-  postConfigure = ''
-    substituteInPlace CMakeCache.txt --replace-fail '-O3' '-O2'
-  '';
-
   strictDeps = true;
 
   nativeBuildInputs =