diff --git a/requirements/doc/doc-requirements.txt b/requirements/doc/doc-requirements.txt
index afb5c4105fae..c77787e4c72b 100644
--- a/requirements/doc/doc-requirements.txt
+++ b/requirements/doc/doc-requirements.txt
@@ -13,7 +13,6 @@ ipython
 ipywidgets
 numpydoc>=0.8
 packaging>=20
-pyparsing<3.0.0
 mpl-sphinx-theme
 sphinxcontrib-svg2pdfconverter>=1.1.0
 sphinx-gallery>=0.10
diff --git a/requirements/testing/all.txt b/requirements/testing/all.txt
index d11ac58331cc..fb7beef90f16 100644
--- a/requirements/testing/all.txt
+++ b/requirements/testing/all.txt
@@ -2,7 +2,6 @@
 
 certifi
 coverage
-pyparsing<3.0.0
 pytest!=4.6.0,!=5.4.0
 pytest-cov
 pytest-rerunfailures
diff --git a/setup.py b/setup.py
index 89b95a732dca..bb98e284268d 100644
--- a/setup.py
+++ b/setup.py
@@ -319,7 +319,7 @@ def make_release_tree(self, base_dir, files):
         "numpy>=1.17",
         "packaging>=20.0",
         "pillow>=6.2.0",
-        "pyparsing>=2.2.1,<3.0.0",
+        "pyparsing>=2.2.1,!=3.0.0,!=3.0.1",
         "python-dateutil>=2.7",
     ] + (
         # Installing from a git checkout.