diff --git a/CHANGELOG.md b/CHANGELOG.md
index bfa3c5dd568..051c8883361 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,7 @@
 # Unreleased
-
+  - Changes from 5.25.0
+    - Build:
+      - FIXED: Fixed Boost link flags in pkg-config file. [#6081](https://github.com/Project-OSRM/osrm-backend/pull/6081)
 # 5.25.0
   - Changes from 5.24.0
     - Build:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e6feb6de9aa..4b61f0906a6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.2)
 
 if(CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_CURRENT_BINARY_DIR AND NOT MSVC_IDE)
   message(FATAL_ERROR "In-source builds are not allowed.
@@ -802,9 +802,25 @@ set(PKGCONFIG_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include")
 list(APPEND DEPENDENCIES_INCLUDE_DIRS "${PKGCONFIG_INCLUDE_DIR}")
 list(APPEND DEPENDENCIES_INCLUDE_DIRS "${PKGCONFIG_INCLUDE_DIR}/osrm")
 JOIN("-I${DEPENDENCIES_INCLUDE_DIRS}" " -I" PKGCONFIG_OSRM_INCLUDE_FLAGS)
-JOIN("${ENGINE_LIBRARIES}" " " PKGCONFIG_OSRM_DEPENDENT_LIBRARIES)
 
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/pkgconfig.in libosrm.pc @ONLY)
+# Boost uses imported targets, we need to use a generator expression to extract
+# the link libraries to be written to the pkg-config file.
+foreach(engine_lib ${ENGINE_LIBRARIES})
+  if("${engine_lib}" MATCHES "^Boost.*")
+    list(APPEND PKGCONFIG_DEPENDENT_LIBRARIES "$<TARGET_LINKER_FILE:${engine_lib}>")
+  else()
+    list(APPEND PKGCONFIG_DEPENDENT_LIBRARIES "${engine_lib}")
+  endif()
+endforeach(engine_lib)
+JOIN("${PKGCONFIG_DEPENDENT_LIBRARIES}" " " PKGCONFIG_OSRM_DEPENDENT_LIBRARIES)
+
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/pkgconfig.in pkgconfig.configured @ONLY)
+file(GENERATE
+     OUTPUT
+     ${PROJECT_BINARY_DIR}/libosrm.pc
+     INPUT
+     ${PROJECT_BINARY_DIR}/pkgconfig.configured)
+
 install(FILES ${PROJECT_BINARY_DIR}/libosrm.pc DESTINATION ${PKGCONFIG_LIBRARY_DIR}/pkgconfig)
 
 # uninstall target
@@ -862,4 +878,4 @@ if (ENABLE_NODE_BINDINGS)
   endforeach()
   add_library(check-headers STATIC EXCLUDE_FROM_ALL ${sources})
   set_target_properties(check-headers PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${check_headers_dir})
-endif()
\ No newline at end of file
+endif()