diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 1fcb6e907..4a890728d 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -195,7 +195,6 @@ jobs:
         docker_image:
           - "ubuntu:focal"
           - "ubuntu:jammy"
-          - "debian:buster-backports"
           - "debian:bullseye"
 
         project_tags:
@@ -237,10 +236,7 @@ jobs:
         chmod +x ./.ci/install_debian.sh
         bash ./.ci/install_debian.sh
 
-    - name: Install CMake 3.16 [Docker/Debian Buster]
-      if: matrix.docker_image == 'debian:buster-backports'
-      run: |
-        apt-get -y -t buster-backports install cmake
+
 
     - name: Configure [Docker]
       run: |
@@ -254,12 +250,6 @@ jobs:
        cd build
        cmake -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=OFF -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF .
 
-    - name: Disable profiles that are not supported in Debian Buster [Docker debian:buster-backports]
-      if: (matrix.docker_image == 'debian:buster-backports')
-      run: |
-       cd build
-       cmake -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=OFF .
-
     - name: Disable MuJoCo for other distros released before 2022 [Docker ubuntu:focal and debian:bullseye]
       if: (matrix.docker_image == 'ubuntu:focal' || matrix.docker_image == 'debian:bullseye')
       run: |
diff --git a/README.md b/README.md
index d4762db4f..e0cfb4c96 100644
--- a/README.md
+++ b/README.md
@@ -108,7 +108,6 @@ We also support an additional deprecated way of compiling the superbuild, on Win
 The following apt-based distributions are supported and tested by the robotology-superbuild:
 * Ubuntu 20.04 (Focal Fossa)
 * Ubuntu 22.04 (Jammy Jellyfish)
-* Debian 10 (Buster)
 * Debian 11 (Bullseye)
 
 Other versions may be working, but they are not checked.
@@ -124,9 +123,8 @@ Besides the packages listed in `apt.txt` file, the script `install_apt_dependenc
 
 For what regards CMake, the robotology-superbuild requires CMake 3.16 . If you are using a recent Debian-based system such as Ubuntu 20.04, the default CMake is recent enough and you do not need to do further steps.
 
-If instead you use an older distro in which the default version of CMake is older, you can easily install a newer CMake version in several ways. For the following distributions, we recommend the following methods:  
-* Debian 10 : use the CMake in the `buster-backports` repository, following the instructions to install from backports available in  [Debian documentation](https://backports.debian.org/Instructions/).
-More details can be found at https://github.com/robotology/QA/issues/364 .
+If instead you use an older distro in which the default version of CMake is older, you can easily install a newer CMake version in several ways. For the following distributions, we recommend the following methods:
+* Ubuntu 20.04 : install a recent CMake via Kitware APT Repository, see https://apt.kitware.com/ .
 
 For some [profile](doc/cmake-options.md#profile-cmake-options) or [dependency](doc/cmake-options.md#dependencies-cmake-options) specific CMake option you may need to install additional system dependencies, following the dependency-specific documentation listed in the following. If you do not want to enable an option, you should ignore the corresponding section and continue with the installation process.
 
@@ -136,7 +134,6 @@ Note that the `ROBOTOLOGY_USES_GAZEBO` option is enabled by default, so you shou
 
 On Linux with apt dependencies install Gazebo, if you are on:
 * Ubuntu 20.04
-* Debian Buster 10
 
 follow the instructions available at https://gazebosim.org/tutorials?tut=install_ubuntu . Make sure to install also the development files, i.e. `libgazebo*-dev` on Debian/Ubuntu.
 
diff --git a/scripts/install_apt_dependencies.sh b/scripts/install_apt_dependencies.sh
index 98b029227..c1564156c 100755
--- a/scripts/install_apt_dependencies.sh
+++ b/scripts/install_apt_dependencies.sh
@@ -9,8 +9,8 @@ SCRIPT_DIR=$(cd "$(dirname "$BASH_SOURCE")"; cd -P "$(dirname "$(readlink "$BASH
 xargs -a ${SCRIPT_DIR}/../apt.txt apt-get install -y
 
 # Handle libdc1394 package (see https://github.com/robotology/robotology-superbuild/issues/854)
-# On Ubuntu 18.04 or Debian Buster install libdc1394-22-dev, otherwise libdc1394-dev
-# Remove once Ubuntu 18.04 and Debian Buster compatibility is dropped
+# On Ubuntu 20.04 install libdc1394-22-dev, otherwise libdc1394-dev
+# Remove once Ubuntu 20.04 compatibility is dropped
 ROBSUP_DISTRO_NAME=$(lsb_release -i | cut -d: -f2 | sed s/'^\t'//)
 ROBSUP_DISTRO_VERSION=$(lsb_release -r | cut -d: -f2 | sed s/'^\t'//)
 ROBSUP_DISTRO_CODENAME=$(lsb_release -c | cut -d: -f2 | sed s/'^\t'//)
@@ -18,9 +18,9 @@ ROBSUP_DISTRO_CODENAME=$(lsb_release -c | cut -d: -f2 | sed s/'^\t'//)
 echo "ROBSUP_DISTRO_NAME: ${ROBSUP_DISTRO_NAME}"
 echo "ROBSUP_DISTRO_VERSION: ${ROBSUP_DISTRO_VERSION}"
 echo "ROBSUP_DISTRO_CODENAME: ${ROBSUP_DISTRO_CODENAME}"
-if [[ ("$ROBSUP_DISTRO_NAME" == "Ubuntu" && "$ROBSUP_DISTRO_VERSION" == "22.04") || ("$ROBSUP_DISTRO_NAME" == "Debian" && "$ROBSUP_DISTRO_CODENAME" == "bullseye") || ("$ROBSUP_DISTRO_NAME" == "Debian" && "$ROBSUP_DISTRO_CODENAME" == "bookworm") || ("$ROBSUP_DISTRO_NAME" == "Debian" && "$ROBSUP_DISTRO_CODENAME" == "sid") ]]
+if [[ ("$ROBSUP_DISTRO_NAME" == "Ubuntu" && "$ROBSUP_DISTRO_VERSION" == "20.04") ]]
 then
-  apt-get install -y libdc1394-dev
-else
   apt-get install -y libdc1394-22-dev
+else
+  apt-get install -y libdc1394-dev
 fi