diff --git a/package/xenomai/xenomai.mk b/package/xenomai/xenomai.mk
index f360c2a909..4bc0871bda 100644
--- a/package/xenomai/xenomai.mk
+++ b/package/xenomai/xenomai.mk
@@ -19,7 +19,8 @@ XENOMAI_INSTALL_STAGING = YES
 XENOMAI_INSTALL_TARGET_OPT = DESTDIR=$(TARGET_DIR) install-user
 XENOMAI_INSTALL_STAGING_OPT = DESTDIR=$(STAGING_DIR) install-user
 
-XENOMAI_CONF_OPT += --includedir=/usr/include/xenomai/ --disable-doc-install
+XENOMAI_CONF_OPT += --includedir=/usr/include/xenomai/ --disable-doc-install \
+	$(if $(BR2_ENABLE_DEBUG),--enable-debug,--disable-debug)
 
 define XENOMAI_REMOVE_DEVFILES
 	for i in xeno-config xeno-info wrap-link.sh ; do \