diff --git a/Help/release/dev/cpack-deb-autodep-ORIGIN-RPATH.rst b/Help/release/dev/cpack-deb-autodep-ORIGIN-RPATH.rst
new file mode 100644
index 000000000..b0d61964d
--- /dev/null
+++ b/Help/release/dev/cpack-deb-autodep-ORIGIN-RPATH.rst
@@ -0,0 +1,6 @@
+cpack-deb-autodep-ORIGIN-RPATH
+--------------------------------
+
+* The "CPackDeb" module learned how to handle ``$ORIGIN``
+  in ``CMAKE_INSTALL_RPATH`` when :variable:`CPACK_DEBIAN_PACKAGE_SHLIBDEPS`
+  is used for dependency auto detection.
diff --git a/Modules/CPackDeb.cmake b/Modules/CPackDeb.cmake
index 2aaef6161..b41d926ff 100644
--- a/Modules/CPackDeb.cmake
+++ b/Modules/CPackDeb.cmake
@@ -504,6 +504,9 @@ function(cpack_deb_prepare_package_vars)
         file(MAKE_DIRECTORY ${CPACK_TEMPORARY_DIRECTORY}/debian)
         file(WRITE ${CPACK_TEMPORARY_DIRECTORY}/debian/control "")
 
+        # Create a DEBIAN directory so that dpkg-shlibdeps can find the package dir when resolving $ORIGIN.
+        file(MAKE_DIRECTORY "${CPACK_TEMPORARY_DIRECTORY}/DEBIAN")
+
         # Add --ignore-missing-info if the tool supports it
         execute_process(COMMAND env LC_ALL=C ${SHLIBDEPS_EXECUTABLE} --help
           OUTPUT_VARIABLE _TMP_HELP
@@ -544,6 +547,9 @@ function(cpack_deb_prepare_package_vars)
         # Remove blank control file
         # Might not be safe if package actual contain file or directory named debian
         file(REMOVE_RECURSE "${CPACK_TEMPORARY_DIRECTORY}/debian")
+
+        # remove temporary directory that was created only for dpkg-shlibdeps execution
+        file(REMOVE_RECURSE "${CPACK_TEMPORARY_DIRECTORY}/DEBIAN")
       else()
         if(CPACK_DEBIAN_PACKAGE_DEBUG)
           message(AUTHOR_WARNING "CPackDeb Debug: Using only user-provided depends because package does not contain executable files that link to shared libraries.")