diff --git a/meta/recipes-graphics/mesa/mesa.inc b/meta/recipes-graphics/mesa/mesa.inc
index 9fdf496e8b..b3c595b767 100644
--- a/meta/recipes-graphics/mesa/mesa.inc
+++ b/meta/recipes-graphics/mesa/mesa.inc
@@ -233,6 +233,11 @@ DEV_PKG_DEPENDENCY = ""
 # development package of libgles3.
 RDEPENDS:libgles3-mesa-dev += "libgles2-mesa-dev"
 
+# GLES2 and GLES3 implementations are packaged in a single library in libgles2-mesa.
+# Add a dependency so the GLES3 dev package is associated with its implementation.
+RDEPENDS:libgles2-mesa += "libgles3-mesa"
+ALLOW_EMPTY:libgles3-mesa = "1"
+
 RDEPENDS:libopencl-mesa += "${@bb.utils.contains('PACKAGECONFIG', 'opencl', 'libclc spirv-tools', '', d)}"
 
 PACKAGES =+ "libegl-mesa libegl-mesa-dev \