diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9b9d4d188..53f120938 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Removed
+
+- CMake: remove unconditional `DOXYGEN_USE_MATHJAX`. You can turn it on if necessary with `cmake -DDOXYGEN_USE_MATHJAX=ON`. ([#467](https://github.com/Simple-Robotics/proxsuite/pull/467))
+
 ## [0.7.3] - 2026-05-11
 
 ### Added
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a91b58935..30f00c497 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -69,9 +69,13 @@ option(BUILD_DOCUMENTATION "Build the documentation." OFF)
 option(BUILD_BENCHMARK "Build the benchmarks" OFF)
 option(INSTALL_DOCUMENTATION "Install the documentation" OFF)
 option(BUILD_PYTHON_INTERFACE "Build the Python bindings" OFF)
-set(DOXYGEN_USE_MATHJAX YES)
+option(PROXSUITE_DOXYGEN_USE_MATHJAX "Avoid latex at build time" OFF)
 set(DOXYGEN_USE_TEMPLATE_CSS YES)
 
+if(PROXSUITE_DOXYGEN_USE_MATHJAX)
+  set(DOXYGEN_USE_MATHJAX YES)
+endif()
+
 # install() DESTINATION paths are normalized (to remove in 3.31) (copied over
 # from Pinocchio)
 if(POLICY CMP0177)
diff --git a/cmake-module b/cmake-module
index 307951909..648efca10 160000
--- a/cmake-module
+++ b/cmake-module
@@ -1 +1 @@
-Subproject commit 30795190916d0297092e37bc1f7b50f5d76fc09c
+Subproject commit 648efca10ffc9081c633e5d23d8b069e89eee341