diff --git a/cpp/open3d/pipelines/registration/Feature.cpp b/cpp/open3d/pipelines/registration/Feature.cpp
index c4441a27005..2815159dcc4 100644
--- a/cpp/open3d/pipelines/registration/Feature.cpp
+++ b/cpp/open3d/pipelines/registration/Feature.cpp
@@ -154,9 +154,10 @@ CorrespondenceSet CorrespondencesFromFeatures(const Feature &source_features,
     std::vector<CorrespondenceSet> corres(num_searches);
 
     const int kMaxThreads = utility::EstimateMaxThreads();
-
     const int kOuterThreads = std::min(kMaxThreads, num_searches);
     const int kInnerThreads = std::max(kMaxThreads / num_searches, 1);
+    (void)kOuterThreads;  // Avoids compiler warning if OpenMP is disabled
+    (void)kInnerThreads;
 #pragma omp parallel for num_threads(kOuterThreads)
     for (int k = 0; k < num_searches; ++k) {
         geometry::KDTreeFlann kdtree(features[1 - k]);
diff --git a/cpp/open3d/t/pipelines/registration/Feature.cpp b/cpp/open3d/t/pipelines/registration/Feature.cpp
index 81ddfb87e13..d20e1a1b58c 100644
--- a/cpp/open3d/t/pipelines/registration/Feature.cpp
+++ b/cpp/open3d/t/pipelines/registration/Feature.cpp
@@ -102,6 +102,7 @@ core::Tensor CorrespondencesFromFeatures(const core::Tensor &source_features,
 
     const int kMaxThreads = utility::EstimateMaxThreads();
     const int kOuterThreads = std::min(kMaxThreads, num_searches);
+    (void)kOuterThreads;  // Avoids compiler warning if OpenMP is disabled
 
     // corres[0]: corres_ij, corres[1]: corres_ji
 #pragma omp parallel for num_threads(kOuterThreads)