diff --git a/cmake/IgnConfigureBuild.cmake b/cmake/IgnConfigureBuild.cmake
index 53eeb922..7f1a67cb 100644
--- a/cmake/IgnConfigureBuild.cmake
+++ b/cmake/IgnConfigureBuild.cmake
@@ -169,7 +169,7 @@ macro(ign_configure_build)
     set (CPPCHECK_INCLUDE_DIRS)
     set (potential_cppcheck_include_dirs
       ${CMAKE_BINARY_DIR}
-      ${CMAKE_SOURCE_DIR}/include/ignition/${IGN_DESIGNATION}
+      ${CMAKE_SOURCE_DIR}/include/${PROJECT_INCLUDE_DIR}
       ${CMAKE_SOURCE_DIR}/test/integration
       ${CMAKE_SOURCE_DIR}/test/regression
       ${CMAKE_SOURCE_DIR}/test/performance)
@@ -323,8 +323,8 @@ function(_ign_find_include_script)
       add_subdirectory("${include_start}/include")
     elseif(EXISTS "${include_start}/include/ignition/CMakeLists.txt")
       add_subdirectory("${include_start}/include/ignition")
-    elseif(EXISTS "${include_start}/include/ignition/${IGN_DESIGNATION}/CMakeLists.txt")
-      add_subdirectory("${include_start}/include/ignition/${IGN_DESIGNATION}")
+    elseif(EXISTS "${include_start}/include/${PROJECT_INCLUDE_DIR}/CMakeLists.txt")
+      add_subdirectory("${include_start}/include/${PROJECT_INCLUDE_DIR}")
     else()
       message(AUTHOR_WARNING
         "You have an include directory [${include_start}/include] without a "
diff --git a/cmake/IgnConfigureProject.cmake b/cmake/IgnConfigureProject.cmake
index c0eb398a..f979bae1 100644
--- a/cmake/IgnConfigureProject.cmake
+++ b/cmake/IgnConfigureProject.cmake
@@ -7,7 +7,10 @@
 # Sets up an ignition library project.
 #
 # NO_IGNITION_PREFIX: Optional. Don't use ignition as prefix in
-#                     cmake project name.
+#     cmake project name.
+# REPLACE_IGNITION_INCLUDE_PATH: Optional. Specify include folder
+#     names to replace the default value of
+#     ignition/${IGN_DESIGNATION}
 # VERSION_SUFFIX: Optional. Specify a prerelease version suffix.
 #
 #===============================================================================
@@ -32,7 +35,7 @@ macro(ign_configure_project)
   #------------------------------------
   # Define the expected arguments
   set(options NO_IGNITION_PREFIX)
-  set(oneValueArgs VERSION_SUFFIX)
+  set(oneValueArgs REPLACE_IGNITION_INCLUDE_PATH VERSION_SUFFIX)
   set(multiValueArgs) # We are not using multiValueArgs yet
 
   #------------------------------------
@@ -82,6 +85,12 @@ macro(ign_configure_project)
   set(PROJECT_EXPORT_NAME ${PROJECT_NAME_LOWER})
   set(PROJECT_LIBRARY_TARGET_NAME ${PROJECT_NAME_LOWER})
 
+  if(ign_configure_project_REPLACE_IGNITION_INCLUDE_PATH)
+    set(PROJECT_INCLUDE_DIR ${ign_configure_project_REPLACE_IGNITION_INCLUDE_PATH})
+  else()
+    set(PROJECT_INCLUDE_DIR ignition/${IGN_DESIGNATION})
+  endif()
+
   # version <major>.<minor>
   set(PROJECT_VERSION ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR})
 
diff --git a/cmake/IgnUtils.cmake b/cmake/IgnUtils.cmake
index 8dda557c..ad0ebfa5 100644
--- a/cmake/IgnUtils.cmake
+++ b/cmake/IgnUtils.cmake
@@ -682,13 +682,13 @@ function(ign_install_all_headers)
 
     # Add each header, prefixed by its directory, to the auto headers variable
     foreach(header ${headers})
-      set(ign_headers "${ign_headers}#include <ignition/${IGN_DESIGNATION}/${header}>\n")
+      set(ign_headers "${ign_headers}#include <${PROJECT_INCLUDE_DIR}/${header}>\n")
     endforeach()
 
     if("." STREQUAL ${dir})
-      set(destination "${IGN_INCLUDE_INSTALL_DIR_FULL}/ignition/${IGN_DESIGNATION}")
+      set(destination "${IGN_INCLUDE_INSTALL_DIR_FULL}/${PROJECT_INCLUDE_DIR}")
     else()
-      set(destination "${IGN_INCLUDE_INSTALL_DIR_FULL}/ignition/${IGN_DESIGNATION}/${dir}")
+      set(destination "${IGN_INCLUDE_INSTALL_DIR_FULL}/${PROJECT_INCLUDE_DIR}/${dir}")
     endif()
 
     install(
@@ -700,7 +700,7 @@ function(ign_install_all_headers)
 
   # Add generated headers to the list of includes
   foreach(header ${ign_install_all_headers_GENERATED_HEADERS})
-      set(ign_headers "${ign_headers}#include <ignition/${IGN_DESIGNATION}/${header}>\n")
+      set(ign_headers "${ign_headers}#include <${PROJECT_INCLUDE_DIR}/${header}>\n")
   endforeach()
 
   if(ign_install_all_headers_COMPONENT)
@@ -708,7 +708,7 @@ function(ign_install_all_headers)
     set(component_name ${ign_install_all_headers_COMPONENT})
 
     # Define the install directory for the component meta header
-    set(meta_header_install_dir ${IGN_INCLUDE_INSTALL_DIR_FULL}/ignition/${IGN_DESIGNATION}/${component_name})
+    set(meta_header_install_dir ${IGN_INCLUDE_INSTALL_DIR_FULL}/${PROJECT_INCLUDE_DIR}/${component_name})
 
     # Define the input/output of the configuration for the component "master" header
     set(master_header_in ${IGNITION_CMAKE_DIR}/ign_auto_headers.hh.in)
@@ -717,7 +717,7 @@ function(ign_install_all_headers)
   else()
 
     # Define the install directory for the core master meta header
-    set(meta_header_install_dir ${IGN_INCLUDE_INSTALL_DIR_FULL}/ignition/${IGN_DESIGNATION})
+    set(meta_header_install_dir ${IGN_INCLUDE_INSTALL_DIR_FULL}/${PROJECT_INCLUDE_DIR})
 
     # Define the input/output of the configuration for the core "master" header
     set(master_header_in ${IGNITION_CMAKE_DIR}/ign_auto_headers.hh.in)
@@ -936,7 +936,7 @@ function(ign_create_core_library)
   # Create the target for the core library, and configure it to be installed
   _ign_add_library_or_component(
     LIB_NAME ${PROJECT_LIBRARY_TARGET_NAME}
-    INCLUDE_DIR "ignition/${IGN_DESIGNATION_LOWER}"
+    INCLUDE_DIR "${PROJECT_INCLUDE_DIR}"
     EXPORT_BASE IGNITION_${IGN_DESIGNATION_UPPER}
     SOURCES ${sources}
     ${interface_option})
@@ -1120,7 +1120,7 @@ function(ign_add_component component_name)
   # Create the target for this component, and configure it to be installed
   _ign_add_library_or_component(
     LIB_NAME ${component_target_name}
-    INCLUDE_DIR "ignition/${IGN_DESIGNATION_LOWER}/${include_subdir}"
+    INCLUDE_DIR "${PROJECT_INCLUDE_DIR}/${include_subdir}"
     EXPORT_BASE IGNITION_${IGN_DESIGNATION_UPPER}_${component_name_upper}
     SOURCES ${sources}
     ${interface_option})
diff --git a/cmake/ign_auto_headers.hh.in b/cmake/ign_auto_headers.hh.in
index 42fc9642..a078c63b 100644
--- a/cmake/ign_auto_headers.hh.in
+++ b/cmake/ign_auto_headers.hh.in
@@ -19,5 +19,5 @@
 // This file is automatically generated by CMake. Changes should instead be
 // made to cmake/ign_auto_headers.hh.in in ignition-cmake
 
-#include <ignition/@IGN_DESIGNATION@/config.hh>
+#include <@PROJECT_INCLUDE_DIR@/config.hh>
 ${ign_headers}
diff --git a/cmake/pkgconfig/ignition-component.pc.in b/cmake/pkgconfig/ignition-component.pc.in
index b542f394..3b2a3710 100644
--- a/cmake/pkgconfig/ignition-component.pc.in
+++ b/cmake/pkgconfig/ignition-component.pc.in
@@ -1,6 +1,6 @@
 prefix=${pcfiledir}/@PC_CONFIG_RELATIVE_PATH_TO_PREFIX@
 libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
-includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@/ignition/@IGN_DESIGNATION@@PROJECT_VERSION_MAJOR@
+includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@/@IGN_INCLUDE_INSTALL_DIR_POSTFIX@
 
 Name: Ignition @IGN_DESIGNATION@ @component_name@
 Description: A set of @IGN_DESIGNATION@ @component_name@ classes for robot applications
diff --git a/cmake/pkgconfig/ignition.pc.in b/cmake/pkgconfig/ignition.pc.in
index d1cace02..2342f716 100644
--- a/cmake/pkgconfig/ignition.pc.in
+++ b/cmake/pkgconfig/ignition.pc.in
@@ -1,6 +1,6 @@
 prefix=${pcfiledir}/@PC_CONFIG_RELATIVE_PATH_TO_PREFIX@
 libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
-includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@/ignition/@IGN_DESIGNATION@@PROJECT_VERSION_MAJOR@
+includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@/@IGN_INCLUDE_INSTALL_DIR_POSTFIX@
 
 Name: Ignition @IGN_DESIGNATION@
 Description: A set of @IGN_DESIGNATION@ classes for robot applications
diff --git a/config/ignition-cmake.pc.in b/config/ignition-cmake.pc.in
index ff8a8973..3bbbe444 100644
--- a/config/ignition-cmake.pc.in
+++ b/config/ignition-cmake.pc.in
@@ -1,5 +1,5 @@
 prefix=${pcfiledir}/@IGN_PC_CONFIG_RELATIVE_PATH_TO_PREFIX@
-includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@/ignition/@IGN_DESIGNATION@@PROJECT_VERSION_MAJOR@
+includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@/@IGN_INCLUDE_INSTALL_DIR_POSTFIX@
 
 Name: Ignition @IGN_DESIGNATION@
 Description: Build system package for the ignition libraries
diff --git a/examples/no_ignition_prefix/CMakeLists.txt b/examples/no_ignition_prefix/CMakeLists.txt
index 1bd6d003..429eda91 100644
--- a/examples/no_ignition_prefix/CMakeLists.txt
+++ b/examples/no_ignition_prefix/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(no_ignition_prefix VERSION 0.1.0)
 find_package(ignition-cmake2 REQUIRED)
-ign_configure_project(NO_IGNITION_PREFIX)
+ign_configure_project(
+  NO_IGNITION_PREFIX
+  REPLACE_IGNITION_INCLUDE_PATH no_ign)
 ign_configure_build(QUIT_IF_BUILD_ERRORS)
 ign_create_packages()
 ign_create_docs()
diff --git a/examples/no_ignition_prefix/README.md b/examples/no_ignition_prefix/README.md
index 513de7e7..85c07d37 100644
--- a/examples/no_ignition_prefix/README.md
+++ b/examples/no_ignition_prefix/README.md
@@ -1,18 +1,34 @@
-# no\_ignition\_prefix
+# no\_ignition\_prefix example
 
-This package uses the `NO_IGNITION_PREFIX` option to `ign_configure_project`
+## Configuring project name
+
+This package uses the `NO_IGNITION_PREFIX` option in `ign_configure_project`
 to allow a cmake package name without the `ignition-` prefix.
-To confirm, build this package and then observe that the tarball,
+To confirm, configure this package and
+`package_source` and then observe that the tarball,
 pkg-config `.pc` file, and cmake config files omit the `ignition-` prefix:
 
 ~~~
 mkdir build
 cd build
 cmake ..
-make
 make package_source
 ~~~
 
 * `no_ignition_prefix-0.1.0.tar.bz2`
 * `cmake/no_ignition_prefix-config.cmake`
 * `cmake/pkgconfig/no_ignition_prefix.pc`
+
+## Configuring include directory names
+
+This package uses the `REPLACE_IGNITION_INCLUDE_PATH` option in `ign_configure_project`
+to allow a custom include path of `no_ign`, which doesn't start with `ignition/`.
+To confirm, build the package and observe that `AlmostEmpty.cc`
+compiles successfully while including `no_ign/Export.hh`:
+
+~~~
+mkdir build
+cd build
+cmake ..
+make
+~~~
diff --git a/examples/no_ignition_prefix/include/CMakeLists.txt b/examples/no_ignition_prefix/include/CMakeLists.txt
index e69de29b..118eec0f 100644
--- a/examples/no_ignition_prefix/include/CMakeLists.txt
+++ b/examples/no_ignition_prefix/include/CMakeLists.txt
@@ -0,0 +1 @@
+add_subdirectory(no_ign)
diff --git a/examples/no_ignition_prefix/include/no_ign/CMakeLists.txt b/examples/no_ignition_prefix/include/no_ign/CMakeLists.txt
new file mode 100644
index 00000000..439642e6
--- /dev/null
+++ b/examples/no_ignition_prefix/include/no_ign/CMakeLists.txt
@@ -0,0 +1 @@
+ign_install_all_headers()
diff --git a/examples/no_ignition_prefix/include/no_ign/config.hh.in b/examples/no_ignition_prefix/include/no_ign/config.hh.in
new file mode 100644
index 00000000..e69de29b
diff --git a/examples/no_ignition_prefix/src/AlmostEmpty.cc b/examples/no_ignition_prefix/src/AlmostEmpty.cc
index c769ef47..d3029192 100644
--- a/examples/no_ignition_prefix/src/AlmostEmpty.cc
+++ b/examples/no_ignition_prefix/src/AlmostEmpty.cc
@@ -15,14 +15,13 @@
  *
 */
 
-#include <ignition/no_ignition_prefix/Export.hh>
+#include <no_ignition_prefix.hh>
+#include <no_ign/config.hh>
+#include <no_ign/Export.hh>
 
-namespace ignition
+namespace no_ignition_prefix
 {
-  namespace no_ignition_prefix
+  class IGNITION_NO_IGNITION_PREFIX_VISIBLE AlmostEmpty
   {
-    class IGNITION_NO_IGNITION_PREFIX_VISIBLE AlmostEmpty
-    {
-    };
-  }
+  };
 }