diff --git a/pkgs/development/embedded/platformio/chrootenv.nix b/pkgs/development/embedded/platformio/chrootenv.nix
index 9e84a8d6ba45..3f4a7e7385dc 100644
--- a/pkgs/development/embedded/platformio/chrootenv.nix
+++ b/pkgs/development/embedded/platformio/chrootenv.nix
@@ -1,4 +1,4 @@
-{ lib, buildFHSUserEnv, version, src }:
+{ lib, buildFHSUserEnv, platformio-core }:
 
 let
   pio-pkgs = pkgs:
@@ -34,10 +34,8 @@ buildFHSUserEnv {
   };
 
   extraInstallCommands = ''
-    mkdir -p $out/lib/udev/rules.d
-
     ln -s $out/bin/platformio $out/bin/pio
-    ln -s ${src}/platformio/assets/system/99-platformio-udev.rules $out/lib/udev/rules.d/99-platformio-udev.rules
+    ln -s ${platformio-core.udev}/lib $out/lib
   '';
 
   runScript = "platformio";
diff --git a/pkgs/development/embedded/platformio/core.nix b/pkgs/development/embedded/platformio/core.nix
index 00ee07a5fc5b..c0127fae5acb 100644
--- a/pkgs/development/embedded/platformio/core.nix
+++ b/pkgs/development/embedded/platformio/core.nix
@@ -10,6 +10,8 @@ with python3.pkgs; buildPythonApplication rec {
   pname = "platformio";
   inherit version src;
 
+  outputs = [ "out" "udev" ];
+
   patches = [
     ./fix-searchpath.patch
     ./use-local-spdx-license-list.patch
@@ -60,6 +62,13 @@ with python3.pkgs; buildPythonApplication rec {
     pytestCheckHook
   ];
 
+  # Install udev rules into a separate output so all of platformio-core is not a dependency if
+  # you want to use the udev rules on NixOS but not install platformio in your system packages.
+  postInstall = ''
+    mkdir -p $udev/lib/udev/rules.d/99-platformio-udev.rules
+    cp platformio/assets/system/99-platformio-udev.rules $udev/lib/udev/rules.d/99-platformio-udev.rules
+  '';
+
   disabledTestPaths = [
     "tests/commands/pkg/test_install.py"
     "tests/commands/pkg/test_list.py"
diff --git a/pkgs/development/embedded/platformio/default.nix b/pkgs/development/embedded/platformio/default.nix
index fbcce7eae60e..70a11f5736f3 100644
--- a/pkgs/development/embedded/platformio/default.nix
+++ b/pkgs/development/embedded/platformio/default.nix
@@ -16,7 +16,7 @@ let
   self = {
     platformio-core = python3Packages.callPackage ./core.nix { inherit version src; };
 
-    platformio-chrootenv = callPackage ./chrootenv.nix { inherit version src; };
+    platformio-chrootenv = callPackage ./chrootenv.nix { };
   };
 
 in
diff --git a/pkgs/development/embedded/platformio/missing-udev-rules-nixos.patch b/pkgs/development/embedded/platformio/missing-udev-rules-nixos.patch
index 2a978496a19b..4be06ceac8b1 100644
--- a/pkgs/development/embedded/platformio/missing-udev-rules-nixos.patch
+++ b/pkgs/development/embedded/platformio/missing-udev-rules-nixos.patch
@@ -6,7 +6,5 @@ index ef1d3bab..445174fc 100644
      MESSAGE = (
          "Warning! Please install `99-platformio-udev.rules`. \nMore details: "
          "https://docs.platformio.org/en/latest/core/installation/udev-rules.html"
-+        "On NixOS add the platformio package to services.udev.packages"
++        "On NixOS add the platformio-core.udev package to services.udev.packages"
      )
- 
-