diff --git a/CMakeLists.txt b/CMakeLists.txt
index c4b37bb8a2ad..09ccf4410675 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -239,29 +239,23 @@ if(USE_TENSORRT)
   message(STATUS "Using TensorRT")
   set(ONNX_PATH 3rdparty/onnx-tensorrt/third_party/onnx/build/)
   set(ONNX_TRT_PATH 3rdparty/onnx-tensorrt/build/)
+  add_definitions(-DMXNET_USE_TENSORRT=1)
+  add_definitions(-DONNX_NAMESPACE=onnx)
+  add_definitions(-DONNX_ML=1)
+  set(BUILD_SHARED_LIBS_SAVED "${BUILD_SHARED_LIBS}")
+  set(BUILD_SHARED_LIBS ON)
+  add_subdirectory(3rdparty/onnx-tensorrt/ EXCLUDE_FROM_ALL)
+  set(BUILD_SHARED_LIBS "${BUILD_SHARED_LIBS_SAVED}")
 
   include_directories(${ONNX_PATH})
   include_directories(3rdparty/onnx-tensorrt/)
   include_directories(3rdparty/)
   include_directories(3rdparty/onnx-tensorrt/third_party/onnx/)
-  add_definitions(-DMXNET_USE_TENSORRT=1)
-  add_definitions(-DONNX_NAMESPACE=onnx)
-  add_definitions(-DONNX_ML=1)
 
   find_package(Protobuf REQUIRED)
 
-  find_library(ONNX_LIBRARY NAMES libonnx.so REQUIRED
-          PATHS ${ONNX_PATH}
-          DOC "Path to onnx library.")
-  find_library(ONNX_PROTO_LIBRARY NAMES libonnx_proto.so REQUIRED
-          PATHS ${ONNX_PATH}
-          DOC "Path to onnx_proto library.")
-  find_library(ONNX_TRT_PARSER_LIBRARY NAMES libnvonnxparser.so REQUIRED
-          PATHS ${ONNX_TRT_PATH}
-          DOC "Path to onnx_proto parser library.")
-
-  list(APPEND mxnet_LINKER_LIBS libnvinfer.so ${ONNX_TRT_PARSER_LIBRARY}
-          ${ONNX_PROTO_LIBRARY} ${ONNX_LIBRARY} ${PROTOBUF_LIBRARY})
+  list(APPEND mxnet_LINKER_LIBS libnvinfer.so nvonnxparser
+          onnx_proto onnx ${PROTOBUF_LIBRARY})
 endif()
 
 # please note that when you enable this, you might run into an linker not being able to work properly due to large code injection.
diff --git a/ci/docker/runtime_functions.sh b/ci/docker/runtime_functions.sh
index 60f1c289c0a7..6482f3d0b968 100755
--- a/ci/docker/runtime_functions.sh
+++ b/ci/docker/runtime_functions.sh
@@ -709,40 +709,11 @@ build_ubuntu_gpu_tensorrt() {
 
     build_ccache_wrappers
 
-    export ONNX_NAMESPACE=onnx
-
-    # Build ONNX
-    pushd .
-    echo "Installing ONNX."
-    cd 3rdparty/onnx-tensorrt/third_party/onnx
-    rm -rf build
-    mkdir -p build
-    cd build
-    cmake -DCMAKE_CXX_FLAGS=-I/usr/include/python${PYVER} -DBUILD_SHARED_LIBS=ON ..
-    make -j$(nproc)
-    export LIBRARY_PATH=`pwd`:`pwd`/onnx/:$LIBRARY_PATH
-    export CPLUS_INCLUDE_PATH=`pwd`:$CPLUS_INCLUDE_PATH
-    export CXXFLAGS=-I`pwd`
-    popd
-
-    # Build ONNX-TensorRT
-    pushd .
-    cd 3rdparty/onnx-tensorrt/
-    mkdir -p build
-    cd build
-    cmake -DONNX_NAMESPACE=$ONNX_NAMESPACE ..
-    make -j$(nproc)
-    export LIBRARY_PATH=`pwd`:$LIBRARY_PATH
-    popd
-
-    mkdir -p /work/mxnet/lib/
-    cp 3rdparty/onnx-tensorrt/third_party/onnx/build/*.so /work/mxnet/lib/
-    cp -L 3rdparty/onnx-tensorrt/build/libnvonnxparser.so* /work/mxnet/lib/
-
     cd /work/build
     cmake -DUSE_CUDA=1                            \
           -DUSE_CUDNN=1                           \
           -DUSE_OPENCV=1                          \
+          -DONNX_NAMESPACE=onnx                   \
           -DUSE_TENSORRT=1                        \
           -DUSE_OPENMP=0                          \
           -DUSE_MKLDNN=0                          \