diff --git a/cmake/Buildcasadi.cmake b/cmake/Buildcasadi.cmake
index f832539e8..e18f526fa 100644
--- a/cmake/Buildcasadi.cmake
+++ b/cmake/Buildcasadi.cmake
@@ -28,8 +28,8 @@ endif()
 
 ycm_ep_helper(casadi TYPE GIT
               STYLE GITHUB
-              REPOSITORY ami-iit/casadi.git
-              TAG 3.6.5.backport3724
+              REPOSITORY casadi/casadi.git
+              TAG 3.6.6
               COMPONENT external
               FOLDER src
               CMAKE_ARGS -DWITH_IPOPT:BOOL=ON
@@ -55,8 +55,4 @@ ycm_ep_helper(casadi TYPE GIT
 
 set(casadi_CONDA_PKG_NAME casadi)
 set(casadi_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
-# This is a small hack. To avoid incompatibilities between the version tagged in the ami-iit fork
-# and the version available in conda-forge when generating conda metapackages
-# such as robotology-distro and robotology-distro-all, we override the conda package version of casadi
-# here. This needs to be removed as soon as we stop use our fork in the superbuild 
-set(casadi_CONDA_VERSION 3.6.5)
+
diff --git a/cmake/ProjectsTagsStable.cmake b/cmake/ProjectsTagsStable.cmake
index 5c1b3b930..4618bc448 100644
--- a/cmake/ProjectsTagsStable.cmake
+++ b/cmake/ProjectsTagsStable.cmake
@@ -11,8 +11,8 @@ set_tag(manif_TAG 0.0.5)
 set_tag(qhull_TAG 2020.2)
 set_tag(CppAD_TAG 20240000.2)
 set_tag(proxsuite_TAG v0.6.4)
-set_tag(casadi_TAG 3.6.5.backport3724)
-set_tag(casadi-matlab-bindings_TAG v3.6.5.0)
+set_tag(casadi_TAG 3.6.6)
+set_tag(casadi-matlab-bindings_TAG v3.6.6.0)
 
 # Robotology projects
 set_tag(YCM_TAG master)
diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake
index e61654d32..98f7408ee 100644
--- a/cmake/ProjectsTagsUnstable.cmake
+++ b/cmake/ProjectsTagsUnstable.cmake
@@ -11,8 +11,8 @@ set_tag(manif_TAG 0.0.5)
 set_tag(qhull_TAG 2020.2)
 set_tag(CppAD_TAG 20240000.2)
 set_tag(proxsuite_TAG v0.6.4)
-set_tag(casadi_TAG 3.6.5.backport3724)
-set_tag(casadi-matlab-bindings_TAG v3.6.5.0)
+set_tag(casadi_TAG 3.6.6)
+set_tag(casadi-matlab-bindings_TAG v3.6.6)
 
 # Robotology projects
 set_tag(YARP_TAG yarp-3.9)
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 00d6523a1..89da9aa8a 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -22,7 +22,7 @@ repositories:
   casadi:
     type: git
     url: https://github.com/casadi/casadi.git
-    version: 3.6.5
+    version: 3.6.6
   YCM:
     type: git
     url: https://github.com/robotology/ycm.git
@@ -202,7 +202,7 @@ repositories:
   casadi-matlab-bindings:
     type: git
     url: https://github.com/ami-iit/casadi-matlab-bindings.git
-    version: v3.6.5.0
+    version: v3.6.6
   idyntree-yarp-tools:
     type: git
     url: https://github.com/robotology/idyntree-yarp-tools.git