diff --git a/multibody/optimization/BUILD.bazel b/multibody/optimization/BUILD.bazel
index cb6aae31f126..a32b68f716e4 100644
--- a/multibody/optimization/BUILD.bazel
+++ b/multibody/optimization/BUILD.bazel
@@ -71,7 +71,7 @@ drake_cc_library(
         "//multibody/plant",
         "//solvers:binding",
         "//solvers:constraint",
-        "//solvers:mathematical_program",
+        "//solvers:mathematical_program_lite",
     ],
 )