diff --git a/python/setup.py b/python/setup.py
index 03047d73b..5dfdbf033 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -138,7 +138,8 @@ install_requires = [
     "grpcio >= 1.28.1",
     "jsonschema",
     "msgpack >= 1.0.0, < 2.0.0",
-    "numpy >= 1.19.3",
+    "numpy >= 1.16; python_version < '3.9'",
+    "numpy >= 1.19.3; python_version >= '3.9'",
     "protobuf >= 3.8.0",
     "py-spy >= 0.2.0",
     "pyyaml",