diff --git a/pyproject.toml b/pyproject.toml
index e63e7b1..393797d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -78,7 +78,7 @@ dev = [
     "types-pyserial",
     "pytest",
     "pytest-cov",
-    "types-paho-mqtt",
+    "paho-mqtt >=2,<3"
 ]
 vision = ["opencv-python-headless >=4,<5"]
-mqtt = ["paho-mqtt >=1.6,<2"]
+mqtt = ["paho-mqtt >=2,<3"]
diff --git a/sbot/mqtt.py b/sbot/mqtt.py
index fe253e4..ad132b7 100644
--- a/sbot/mqtt.py
+++ b/sbot/mqtt.py
@@ -5,6 +5,7 @@
 import logging
 import os
 from typing import Any, Callable, TypedDict
+from urllib.parse import urlparse
 
 import paho.mqtt.client as mqtt
 
@@ -19,7 +20,7 @@ def __init__(
         self,
         client_name: str | None = None,
         topic_prefix: str | None = None,
-        mqtt_version: int = mqtt.MQTTv5,
+        mqtt_version: mqtt.MQTTProtocolVersion = mqtt.MQTTProtocolVersion.MQTTv5,
         use_tls: bool | str = False,
         username: str = '',
         password: str = '',
@@ -31,7 +32,11 @@ def __init__(
         self._client_name = client_name
         self._img_topic = 'img'
 
-        self._client = mqtt.Client(client_id=client_name, protocol=mqtt_version)
+        self._client = mqtt.Client(
+            callback_api_version=mqtt.CallbackAPIVersion.VERSION2,
+            client_id=client_name,
+            protocol=mqtt_version,
+        )
         self._client.on_connect = self._on_connect
 
         if use_tls:
@@ -53,8 +58,8 @@ def connect(self, host: str, port: int) -> None:
             return
 
         try:
-            self._client.connect(host, port, keepalive=60)
-        except (TimeoutError, ValueError, ConnectionRefusedError):
+            self._client.connect_async(host, port, keepalive=60)
+        except ValueError:
             LOGGER.error(f"Failed to connect to MQTT broker at {host}:{port}")
             return
         self._client.loop_start()
@@ -149,12 +154,16 @@ def wrapped_publish(
             retain=retain, abs_topic=abs_topic)
 
     def _on_connect(
-        self, client: mqtt.Client, userdata: Any, flags: dict[str, int], rc: int,
+        self,
+        client: mqtt.Client,
+        userdata: Any,
+        connect_flags: mqtt.ConnectFlags,
+        reason_code: mqtt.ReasonCode,
         properties: mqtt.Properties | None = None,
     ) -> None:
-        if rc != mqtt.CONNACK_ACCEPTED:
+        if reason_code.is_failure:
             LOGGER.warning(
-                f"Failed to connect to MQTT broker. Return code: {mqtt.error_string(rc)}"
+                f"Failed to connect to MQTT broker. Return code: {reason_code.getName()}"  # type: ignore[no-untyped-call] # noqa: E501
             )
             return
 
@@ -181,36 +190,17 @@ def get_mqtt_variables() -> MQTTVariables:
     # url format: mqtt[s]://<username>:<password>@<host>:<port>/<topic_root>
     mqtt_url = os.environ['SBOT_MQTT_URL']
 
-    scheme, rest = mqtt_url.split('://', maxsplit=1)
-    # username and password are optional
-    try:
-        user_pass, host_port_topic = rest.rsplit('@', maxsplit=1)
-    except ValueError:
-        username, password = None, None
-        host_port_topic = rest
-    else:
-        try:
-            username, password = user_pass.split(':', maxsplit=1)
-        except ValueError:
-            # username can be supplied without password
-            username = user_pass
-            password = None
-
-    host_port, topic_root = host_port_topic.split('/', maxsplit=1)
-    use_tls = (scheme == 'mqtts')
-    try:
-        host, port_str = host_port.split(':', maxsplit=1)
-        port = int(port_str)
-    except ValueError:
-        # use default port for scheme
-        host = host_port
-        port = 8883 if use_tls else 1883
+    url_parts = urlparse(mqtt_url, allow_fragments=False)
+    use_tls = (url_parts.scheme == 'mqtts')
+
+    if url_parts.hostname is None:
+        raise ValueError("MQTT URL is missing a hostname.")
 
     return MQTTVariables(
-        host=host,
-        port=port,
-        topic_prefix=topic_root,
+        host=url_parts.hostname,
+        port=url_parts.port or (8883 if use_tls else 1883),
+        topic_prefix=url_parts.path.lstrip('/'),
         use_tls=use_tls,
-        username=username,
-        password=password,
+        username=url_parts.username,
+        password=url_parts.password,
     )