diff --git a/.travis.yml b/.travis.yml
index b1559e3..f2cd81a 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -13,8 +13,6 @@ env:
     - YARP_CHECKOUT=master
     - YARP_CHECKOUT=v3.1.1
     - YARP_CHECKOUT=30dce54 # hotfix for v3.0.1
-    - YARP_CHECKOUT=v2.3.72.1
-    - YARP_CHECKOUT=v2.3.70.2
 
 matrix:
   include:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b0e2f53..a6d0469 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -38,12 +38,8 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake
 
 # Hard dependencies.
 find_package(YCM 0.10 REQUIRED)
-find_package(YARP 3.0 QUIET COMPONENTS OS dev
-                            OPTIONAL_COMPONENTS idl_tools)
-# https://github.com/roboticslab-uc3m/questions-and-answers/issues/65
-if(NOT YARP_FOUND)
-    find_package(YARP 2.3.70 REQUIRED)
-endif()
+find_package(YARP 3.0 REQUIRED COMPONENTS OS dev
+                               OPTIONAL_COMPONENTS idl_tools)
 find_package(COLOR_DEBUG REQUIRED)
 
 # Soft dependencies.
diff --git a/doc/speech-install.md b/doc/speech-install.md
index 94a44fb..3189cc3 100644
--- a/doc/speech-install.md
+++ b/doc/speech-install.md
@@ -4,7 +4,7 @@
 
 - [Install CMake 3.5+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-cmake.md/)
 - [Install YCM 0.10+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-ycm.md/)
-- [Install YARP 2.3.70+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md/)
+- [Install YARP 3.0+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md/)
 with [Python bindings](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md#install-python-bindings)
 - [Install eSpeak with MBROLA Voices](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-espeak-mbrola.md/)
 - [Install gstreamer with pocketsphinx](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-gstreamer-pocketsphinx.md/)