diff --git a/math/fcl/files/patch-include_fcl_common_types.h b/math/fcl/files/patch-include_fcl_common_types.h
new file mode 100644
index 000000000000..069f448e94ad
--- /dev/null
+++ b/math/fcl/files/patch-include_fcl_common_types.h
@@ -0,0 +1,10 @@
+--- include/fcl/common/types.h.orig	2021-09-09 15:34:30 UTC
++++ include/fcl/common/types.h
+@@ -38,6 +38,7 @@
+ #ifndef FCL_DATA_TYPES_H
+ #define FCL_DATA_TYPES_H
+ 
++#include <cassert>
+ #include <cstddef>
+ #include <cstdint>
+ #include <vector>