diff --git a/docker/scripts/install_common_deps.sh b/docker/scripts/install_common_deps.sh
index 4310e0d046..1b8d637599 100755
--- a/docker/scripts/install_common_deps.sh
+++ b/docker/scripts/install_common_deps.sh
@@ -25,5 +25,9 @@ sudo apt-get install --no-install-recommends -y \
   clang-tidy \
   python3-yaml
 
+# for benchmarks in gz-sim/test/benchmark
+sudo apt-get install --no-install-recommends -y \
+  libbenchmark-dev
+
 sudo apt-get clean
 sudo rm -rf /var/lib/apt/lists/*
diff --git a/test/benchmark/README.md b/test/benchmark/README.md
index d73688846d..d5b1d938a1 100644
--- a/test/benchmark/README.md
+++ b/test/benchmark/README.md
@@ -14,7 +14,7 @@
 
 Given a set of changes to the codebase, it is often useful to see the difference in performance.
 
-Once two (or more) benchmarks have been executed, compare the results by downloading the [benchmark tools](https://github.com/google/benchmark/tree/master/tools), and then run the following command:
+Once two (or more) benchmarks have been executed, compare the results by downloading the [benchmark tools](https://github.com/google/benchmark/tree/main/tools), and then run the following command:
 
 ```
 # From the downloaded "tools" folder