diff --git a/lcmtypes/BUILD.bazel b/lcmtypes/BUILD.bazel
index 2090f64cb2f4..46b67835ff0b 100644
--- a/lcmtypes/BUILD.bazel
+++ b/lcmtypes/BUILD.bazel
@@ -2,7 +2,11 @@
 
 package(default_visibility = ["//visibility:public"])
 
-load("@drake//tools/install:install.bzl", "install")
+load(
+    "@drake//tools/install:install.bzl",
+    "install",
+    "install_py2_duplicates_if_py3",
+)
 load(
     "@drake//tools/skylark:drake_cc.bzl",
     "drake_cc_library",
@@ -390,6 +394,13 @@ install(
     visibility = ["//visibility:private"],
 )
 
+# For Python2-only `drake_visualizer`.
+install_py2_duplicates_if_py3(
+    name = "install_py2_duplicates_if_py3",
+    targets = [":lcmtypes_py"],
+    visibility = ["//visibility:private"],
+)
+
 install(
     name = "install",
     install_tests = [":test/drake-lcm-spy_install_test.py"],
@@ -405,6 +416,7 @@ install(
     },
     deps = [
         ":install_cc_headers",
+        ":install_py2_duplicates_if_py3",
         "//tools/workspace/optitrack_driver:install",
         "@lcm//:install",
         "@lcmtypes_bot2_core//:install",
diff --git a/tools/install/install.bzl b/tools/install/install.bzl
index 3f421ad80900..ba65beef1d4c 100644
--- a/tools/install/install.bzl
+++ b/tools/install/install.bzl
@@ -8,7 +8,7 @@ load(
     "join_paths",
     "output_path",
 )
-load("@python//:version.bzl", "PYTHON_SITE_PACKAGES_RELPATH")
+load("@python//:version.bzl", "PYTHON_SITE_PACKAGES_RELPATH", "PYTHON_VERSION")
 
 InstallInfo = provider()
 
@@ -689,6 +689,40 @@ Args:
     allowed_externals: List of external packages whose files may be installed.
 """
 
+def install_py2_duplicates_if_py3(
+        name,
+        targets = None,
+        py_dest = "@PYTHON_SITE_PACKAGES@",
+        **kwargs):
+    """
+    Creates a duplicate install, only if Python3 is Bazel's version of Python.
+    Otherwise, creates an empty install target.
+
+    For `py_dest`, `@PYTHON_SITE_PACKAGES@` will be replaced with
+    `lib/python2.7/site-packages`.
+
+    This is presently only used to support Python2-only `drake_visualizer`.
+    """
+    cur_major, _ = PYTHON_VERSION.split(".")
+    if cur_major == "3":
+        py2_targets = targets
+    else:
+        py2_targets = []
+
+    # Assuming that we will only have one supported major-minor version of
+    # Python2.
+    py2_major_minor = "2.7"
+    py2_dest = py_dest.replace(
+        "@PYTHON_SITE_PACKAGES@",
+        "lib/python{}/site-packages".format(py2_major_minor),
+    )
+    install(
+        name = name,
+        targets = py2_targets,
+        py_dest = py2_dest,
+        **kwargs
+    )
+
 #------------------------------------------------------------------------------
 # Generate information to install files to specified destination.
 def _install_files_impl(ctx):
diff --git a/tools/workspace/lcmtypes_bot2_core/package.BUILD.bazel b/tools/workspace/lcmtypes_bot2_core/package.BUILD.bazel
index 9ace25c30623..267201e85a60 100644
--- a/tools/workspace/lcmtypes_bot2_core/package.BUILD.bazel
+++ b/tools/workspace/lcmtypes_bot2_core/package.BUILD.bazel
@@ -5,6 +5,7 @@ load(
     "cmake_config",
     "install",
     "install_cmake_config",
+    "install_py2_duplicates_if_py3",
 )
 load(
     "@drake//tools/workspace/lcm:lcm.bzl",
@@ -64,6 +65,14 @@ install_cmake_config(
     versioned = 0,
 )
 
+# For Python2-only `drake_visualizer`.
+install_py2_duplicates_if_py3(
+    name = "install_py2_duplicates_if_py3",
+    targets = [":lcmtypes_bot2_core_py"],
+    py_strip_prefix = ["lcmtypes"],
+    visibility = ["//visibility:private"],
+)
+
 # For docs, see  https://github.com/RobotLocomotion/lcmtypes/issues/2
 # and https://github.com/openhumanoids/bot_core_lcmtypes/issues/33.
 install(
@@ -81,5 +90,8 @@ install(
         "share/java/liblcmtypes_bot2_core_java.jar": "lcmtypes_bot2_core.jar",
     },
     allowed_externals = ["@lcmtypes_robotlocomotion//:LICENSE.txt"],
-    deps = [":install_cmake_config"],
+    deps = [
+        ":install_cmake_config",
+        ":install_py2_duplicates_if_py3",
+    ],
 )
diff --git a/tools/workspace/lcmtypes_robotlocomotion/package.BUILD.bazel b/tools/workspace/lcmtypes_robotlocomotion/package.BUILD.bazel
index 209d375befe0..c410828ad79e 100644
--- a/tools/workspace/lcmtypes_robotlocomotion/package.BUILD.bazel
+++ b/tools/workspace/lcmtypes_robotlocomotion/package.BUILD.bazel
@@ -9,6 +9,7 @@ load(
     "cmake_config",
     "install",
     "install_cmake_config",
+    "install_py2_duplicates_if_py3",
 )
 load(
     "@drake//tools/workspace/lcm:lcm.bzl",
@@ -54,6 +55,14 @@ install_cmake_config(
     versioned = 0,
 )
 
+# For Python2-only `drake_visualizer`.
+install_py2_duplicates_if_py3(
+    name = "install_py2_duplicates_if_py3",
+    targets = [":lcmtypes_robotlocomotion_py"],
+    py_strip_prefix = ["lcmtypes"],
+    visibility = ["//visibility:private"],
+)
+
 install(
     name = "install",
     workspace = CMAKE_PACKAGE,
@@ -68,7 +77,10 @@ install(
     rename = {
         "share/java/liblcmtypes_robotlocomotion_java.jar": "lcmtypes_robotlocomotion.jar",  # noqa
     },
-    deps = [":install_cmake_config"],
+    deps = [
+        ":install_cmake_config",
+        ":install_py2_duplicates_if_py3",
+    ],
 )
 
 # See https://github.com/RobotLocomotion/lcmtypes/issues/2 and
diff --git a/tools/workspace/optitrack_driver/BUILD.bazel b/tools/workspace/optitrack_driver/BUILD.bazel
index abcc92119f66..afba2cd00e28 100644
--- a/tools/workspace/optitrack_driver/BUILD.bazel
+++ b/tools/workspace/optitrack_driver/BUILD.bazel
@@ -6,6 +6,7 @@ load(
     "install",
     "install_cmake_config",
     "install_files",
+    "install_py2_duplicates_if_py3",
 )
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
@@ -38,6 +39,16 @@ OPTITRACK_TARGETS = [
     "@optitrack_driver//src:optitrack_client_py",
 ]
 
+# For Python2-only `drake_visualizer`.
+install_py2_duplicates_if_py3(
+    name = "install_py2_duplicates_if_py3",
+    allowed_externals = OPTITRACK_TARGETS,
+    py_dest = "@PYTHON_SITE_PACKAGES@/optitrack",
+    py_strip_prefix = ["**/"],
+    targets = ["@optitrack_driver//lcmtypes:py_optitrack_lcmtypes"],
+    visibility = ["//visibility:private"],
+)
+
 install(
     name = "install",
     workspace = CMAKE_PACKAGE,
@@ -57,6 +68,7 @@ install(
     deps = [
         ":install_cmake_config",
         ":install_optitrack_client",
+        ":install_py2_duplicates_if_py3",
     ],
 )