diff --git a/tools/workspace/pybind11/package.BUILD.bazel b/tools/workspace/pybind11/package.BUILD.bazel
index d29d31706972..bbe7c87d8ef0 100644
--- a/tools/workspace/pybind11/package.BUILD.bazel
+++ b/tools/workspace/pybind11/package.BUILD.bazel
@@ -34,6 +34,7 @@ _HDRS = [
     "include/pybind11/eval.h",
     "include/pybind11/functional.h",
     "include/pybind11/gil.h",
+    "include/pybind11/gil_safe_call_once.h",
     "include/pybind11/iostream.h",
     "include/pybind11/numpy.h",
     "include/pybind11/operators.h",
@@ -44,6 +45,7 @@ _HDRS = [
     "include/pybind11/stl/filesystem.h",
     "include/pybind11/stl_bind.h",
     "include/pybind11/type_caster_pyobject_ptr.h",
+    "include/pybind11/typing.h",
 ]
 
 check_lists_consistency(