diff --git a/Formula/e/eigenpy.rb b/Formula/e/eigenpy.rb
index 814f747e39bd8..e44dd78b7e271 100644
--- a/Formula/e/eigenpy.rb
+++ b/Formula/e/eigenpy.rb
@@ -1,18 +1,18 @@
 class Eigenpy < Formula
   desc "Python bindings of Eigen library with Numpy support"
   homepage "https://github.com/stack-of-tasks/eigenpy"
-  url "https://github.com/stack-of-tasks/eigenpy/releases/download/v3.9.1/eigenpy-3.9.1.tar.gz"
-  sha256 "3e00b96a4fd8d4d99d28afa671b7d407c07354555d6b6459d5b7ef468a4c5d71"
+  url "https://github.com/stack-of-tasks/eigenpy/releases/download/v3.10.0/eigenpy-3.10.0.tar.gz"
+  sha256 "041ca892a9dab2cd81ba828aeb247adfd44438db5d6037ed61fde1e833a3edbe"
   license "BSD-2-Clause"
   head "https://github.com/stack-of-tasks/eigenpy.git", branch: "master"
 
   bottle do
-    sha256 cellar: :any,                 arm64_sequoia: "197e57d9c2a031c4ddf69d456c11111a85240a9c875b0f7687376559b9eed21d"
-    sha256 cellar: :any,                 arm64_sonoma:  "017ee471096eef2a90edea7578d0a67c66f6ee76304b462f1f007fb06f35a65e"
-    sha256 cellar: :any,                 arm64_ventura: "904ea4655b022f706ce899487abe75771d34abadd58cd72823fed04771c54405"
-    sha256 cellar: :any,                 sonoma:        "abf02dd75cb39ac8884815f400df672038fb6d5a159399975aa7b0522b744c2a"
-    sha256 cellar: :any,                 ventura:       "ad1a19fda68706580f43a0291649c2150fe19460a715efc620b27295d19da411"
-    sha256 cellar: :any_skip_relocation, x86_64_linux:  "6514de70dad0322c1cb93128b1dc4f48692cda8f42f4ae087821ec40bc3b48f4"
+    sha256 cellar: :any,                 arm64_sequoia: "6755fd097be0a2af177d1fc502a7f26ac7ade3e9129b5401b1808d4318a3ce96"
+    sha256 cellar: :any,                 arm64_sonoma:  "d295b64c7a85cb8d508188164db5e1629e34387e2388da5b3fed67c745c273e0"
+    sha256 cellar: :any,                 arm64_ventura: "67edbc7ee532f0817c082d3e7e965f0ce137fafa43e5c6a89b9be98450e32934"
+    sha256 cellar: :any,                 sonoma:        "50eb458e69802b78a77c63005f53781b965a5a853dd63d5d4df9bdc6c9a3e586"
+    sha256 cellar: :any,                 ventura:       "3e20a28dd0787593b8bf1c44c68b28fb21440792cf95f7b525725e94fe34c928"
+    sha256 cellar: :any_skip_relocation, x86_64_linux:  "b389d8b06851055dbf2a54f9ea0d02ecd524c77c88b2e5a724c86e8fa1c91d94"
   end
 
   depends_on "boost" => :build
@@ -26,16 +26,6 @@ class Eigenpy < Formula
   depends_on "python@3.12"
   depends_on "scipy"
 
-  # Support numpy 2, upstream patch PR, https://github.com/stack-of-tasks/eigenpy/pull/496
-  patch do
-    url "https://github.com/stack-of-tasks/eigenpy/commit/98ec8fe8b2bcdde5b1fe2a85660cd7b7761e9e36.patch?full_index=1"
-    sha256 "fb32fd117fcd7d3bbbc751cb850fa2a8a3121a695f70269bce935352592d9067"
-  end
-  patch do
-    url "https://github.com/stack-of-tasks/eigenpy/commit/b36cded3d855557bd69f63b215b9c45ecb8b0255.patch?full_index=1"
-    sha256 "ab5f5cfe66d23a1128de4340f49de28487b1ae7082bc48e71b68521fda540e5d"
-  end
-
   def python3
     "python3.12"
   end