diff --git a/CMakeLists.txt b/CMakeLists.txt
index a9416391..3cbada53 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -50,6 +50,7 @@ set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
 #--------------------------------------
 # Find Tinyxml2
 gz_find_package(TINYXML2 PRETTY tinyxml2
+  VERSION 6.0
   REQUIRED_BY graphics
   PRIVATE_FOR graphics)
 
diff --git a/graphics/src/CMakeLists.txt b/graphics/src/CMakeLists.txt
index 333a8155..0e3b965b 100644
--- a/graphics/src/CMakeLists.txt
+++ b/graphics/src/CMakeLists.txt
@@ -1,14 +1,5 @@
 gz_get_libsources_and_unittests(sources gtest_sources)
 
-
-if(NOT USE_EXTERNAL_TINYXML2)
-  # If we are using our internal copy of tinyxml2, then add its
-  # source file.
-  message(STATUS "Adding tinyxml2 source files")
-  list(APPEND sources ${CMAKE_CURRENT_SOURCE_DIR}/tinyxml2/tinyxml2.cpp)
-endif()
-
-
 gz_add_component(graphics SOURCES ${sources} GET_TARGET_NAME graphics_target)
 
 target_link_libraries(${graphics_target}
diff --git a/graphics/src/ColladaExporter.cc b/graphics/src/ColladaExporter.cc
index d3ec6bb3..fb210964 100644
--- a/graphics/src/ColladaExporter.cc
+++ b/graphics/src/ColladaExporter.cc
@@ -25,12 +25,6 @@
 
 #include "tinyxml2.h"
 
-#ifndef TINYXML2_MAJOR_VERSION_GE_6
-#if TINYXML2_MAJOR_VERSION >= 6
-  #define TINYXML2_MAJOR_VERSION_GE_6
-#endif
-#endif
-
 #ifdef _WIN32
   static const char pathSeparator = '\\';
   #define snprintf _snprintf
@@ -50,24 +44,10 @@ static void LogTinyXml2DocumentError(
   {
     warning += std::to_string(_doc.ErrorID()) + "): ";
 
-#ifdef TINYXML2_MAJOR_VERSION_GE_6
     const char * error1 = _doc.ErrorStr();
-#else
-    const char * error1 = _doc.GetErrorStr1();
-#endif
 
     if (error1)
       warning += "str1=" + std::string(error1);
-
-#ifndef TINYXML2_MAJOR_VERSION_GE_6
-    const char * error2 = _doc.GetErrorStr2();
-
-    if (error1 && error2)
-      warning += ", ";
-
-    if (error2)
-      warning += "str2=" + std::string(error2);
-#endif
   }
   else
   {
diff --git a/graphics/src/SVGLoader.cc b/graphics/src/SVGLoader.cc
index 66417f3e..caa84674 100644
--- a/graphics/src/SVGLoader.cc
+++ b/graphics/src/SVGLoader.cc
@@ -23,12 +23,6 @@
 
 #include "tinyxml2.h"
 
-#ifndef TINYXML2_MAJOR_VERSION_GE_6
-#if TINYXML2_MAJOR_VERSION >= 6
-  #define TINYXML2_MAJOR_VERSION_GE_6
-#endif
-#endif
-
 #include "gz/common/Console.hh"
 #include "gz/common/Util.hh"
 
@@ -885,20 +879,12 @@ bool SVGLoader::Parse(const std::string &_filename,
   tinyxml2::XMLDocument doc;
   if (doc.LoadFile(_filename.c_str()) != tinyxml2::XML_SUCCESS)
   {
-#ifdef TINYXML2_MAJOR_VERSION_GE_6
     const char *str1 = doc.ErrorStr();
-    const char *str2 = nullptr;
-#else
-    const char *str1 = doc.GetErrorStr1();
-    const char *str2 = doc.GetErrorStr2();
-#endif
-    std::string err1 = str1 ? str1 : "n/a";
-    std::string err2 = str2 ? str2 : "n/a";
+    std::string err1 = str1 != nullptr ? str1 : "n/a";
 
     gzerr << "Failed to load file " <<  _filename << std::endl
            << "XML error type " << doc.ErrorName() << "\n"
-           << "XML error info 1 " << err1 << "\n"
-           << "XML error info 2 " << err2 << "\n";
+           << "XML error info 1 " << err1 << "\n";
     return false;
   }