diff --git a/CMakeLists.txt b/CMakeLists.txt
index c4b37bb8a2ad..ad9494f5876e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -237,6 +237,7 @@ endif()
 
 if(USE_TENSORRT)
   message(STATUS "Using TensorRT")
+  execute_process(COMMAND bash tools/dependencies/build_onnx_trt.sh)
   set(ONNX_PATH 3rdparty/onnx-tensorrt/third_party/onnx/build/)
   set(ONNX_TRT_PATH 3rdparty/onnx-tensorrt/build/)
 
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                          \
diff --git a/tools/dependencies/build_onnx_trt.sh b/tools/dependencies/build_onnx_trt.sh
new file mode 100644
index 000000000000..2c5f264ab8b2
--- /dev/null
+++ b/tools/dependencies/build_onnx_trt.sh
@@ -0,0 +1,31 @@
+export ONNX_NAMESPACE=onnx
+PYTHON_ROOT_PATH=`python -c "import sys; print('\n'.join(sys.path))"`
+
+ONNX_TRT_INSTALLED=`ldconfig -p | grep -c libnvonnxparser`
+if [ $ONNX_TRT_INSTALLED -eq "0" ]; then
+    # Build ONNX
+    pushd 3rdparty/onnx-tensorrt/third_party/onnx
+    mkdir -p build
+    pushd build
+    cmake -DCMAKE_CXX_FLAGS=-I$(PYTHON_ROOT_PATH) -DBUILD_SHARED_LIBS=ON ..
+    make -j$(nproc) install
+    ldconfig
+    popd
+    mkdir /usr/include/x86_64-linux-gnu/onnx
+    cp build/onnx/onnx*pb.* /usr/include/x86_64-linux-gnu/onnx
+    cp build/libonnx.so /usr/local/lib
+    ldconfig
+    popd
+
+    # Build onnx tensorrt
+    pushd /opt/mxnet/3rdparty/onnx-tensorrt
+    mkdir -p build
+    pushd build
+    cmake -DONNX_NAMESPACE=$ONNX_NAMESPACE ..
+    make -j$(nproc) install
+    ldconfig
+    popd
+    popd
+else
+    echo "onnx_tensorrt already installed."
+fi