diff --git a/CMakeLists.txt b/CMakeLists.txt
index b222eca73..ce00cdea0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -257,7 +257,7 @@ target_include_directories(${BTCPP_LIBRARY}
         ${BTCPP_EXTRA_INCLUDE_DIRS}
     )
 
-target_compile_definitions(${BTCPP_LIBRARY} PUBLIC BTCPP_LIBRARY_VERSION="${CMAKE_PROJECT_VERSION}")
+target_compile_definitions(${BTCPP_LIBRARY} PUBLIC BTCPP_LIBRARY_VERSION="${PROJECT_VERSION}")
 
 target_compile_features(${BTCPP_LIBRARY} PUBLIC cxx_std_17)
 
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 1274f2646..49fcce397 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -106,6 +106,15 @@ else()
 
 endif()
 
+add_test(
+    NAME cmake_subproject_version
+    COMMAND ${CMAKE_COMMAND}
+        -S ${CMAKE_CURRENT_SOURCE_DIR}/cmake/subproject_version
+        -B ${CMAKE_CURRENT_BINARY_DIR}/cmake/subproject_version
+        "-DBTCPP_SOURCE_DIR=${PROJECT_SOURCE_DIR}"
+        "-DBTCPP_EXPECTED_VERSION=${PROJECT_VERSION}"
+)
+
 target_include_directories(behaviortree_cpp_test PRIVATE include)
 target_link_libraries(behaviortree_cpp_test ${BTCPP_LIBRARY} bt_sample_nodes)
 if(MSVC)
diff --git a/tests/cmake/subproject_version/CMakeLists.txt b/tests/cmake/subproject_version/CMakeLists.txt
new file mode 100644
index 000000000..40263a5a4
--- /dev/null
+++ b/tests/cmake/subproject_version/CMakeLists.txt
@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.16.3)
+
+project(btcpp_parent VERSION 9.8.7 LANGUAGES C CXX)
+
+if(NOT BTCPP_SOURCE_DIR OR NOT BTCPP_EXPECTED_VERSION)
+    message(FATAL_ERROR "BTCPP_SOURCE_DIR and BTCPP_EXPECTED_VERSION are required")
+endif()
+
+set(BUILD_TESTING OFF CACHE BOOL "" FORCE)
+set(BTCPP_BUILD_TOOLS OFF CACHE BOOL "" FORCE)
+set(BTCPP_EXAMPLES OFF CACHE BOOL "" FORCE)
+set(BTCPP_GROOT_INTERFACE OFF CACHE BOOL "" FORCE)
+set(BTCPP_SQLITE_LOGGING OFF CACHE BOOL "" FORCE)
+set(CMAKE_DISABLE_FIND_PACKAGE_ament_cmake TRUE CACHE BOOL "" FORCE)
+
+add_subdirectory("${BTCPP_SOURCE_DIR}" behaviortree_cpp)
+
+get_target_property(btcpp_compile_definitions behaviortree_cpp COMPILE_DEFINITIONS)
+set(expected_definition "BTCPP_LIBRARY_VERSION=\"${BTCPP_EXPECTED_VERSION}\"")
+list(FIND btcpp_compile_definitions "${expected_definition}" expected_version_index)
+
+if(expected_version_index EQUAL -1)
+    message(FATAL_ERROR
+        "Expected ${expected_definition}, got: ${btcpp_compile_definitions}")
+endif()