diff --git a/dart/dynamics/BoxShape.h b/dart/dynamics/BoxShape.h
index f8ac14ea91d1e..3a57b0fd81546 100644
--- a/dart/dynamics/BoxShape.h
+++ b/dart/dynamics/BoxShape.h
@@ -60,7 +60,7 @@ class BoxShape : public Shape {
   // Documentation inherited.
   void draw(renderer::RenderInterface* _ri = nullptr,
             const Eigen::Vector4d& _col = Eigen::Vector4d::Ones(),
-            bool _default = true) const;
+            bool _default = true) const override;
 
   /// \brief Compute volume from given properties
   static double computeVolume(const Eigen::Vector3d& size);
diff --git a/dart/dynamics/CylinderShape.h b/dart/dynamics/CylinderShape.h
index 06b74ca89c632..684cbbf5f6e3d 100644
--- a/dart/dynamics/CylinderShape.h
+++ b/dart/dynamics/CylinderShape.h
@@ -65,7 +65,7 @@ class CylinderShape : public Shape {
   // Documentation inherited.
   void draw(renderer::RenderInterface* _ri = nullptr,
             const Eigen::Vector4d& _color = Eigen::Vector4d::Ones(),
-            bool _useDefaultColor = true) const;
+            bool _useDefaultColor = true) const override;
 
   /// \brief Compute volume from given properties
   static double computeVolume(double radius, double height);
diff --git a/dart/dynamics/EllipsoidShape.h b/dart/dynamics/EllipsoidShape.h
index e2c274ba57aa3..98a7a833952b0 100644
--- a/dart/dynamics/EllipsoidShape.h
+++ b/dart/dynamics/EllipsoidShape.h
@@ -60,7 +60,7 @@ class EllipsoidShape : public Shape {
   // Documentation inherited.
   void draw(renderer::RenderInterface* _ri = nullptr,
             const Eigen::Vector4d& _col = Eigen::Vector4d::Ones(),
-            bool _useDefaultColor = true) const;
+            bool _useDefaultColor = true) const override;
 
   /// \brief Compute volume from given properties
   static double computeVolume(const Eigen::Vector3d& size);
diff --git a/dart/dynamics/PlaneShape.h b/dart/dynamics/PlaneShape.h
index b5e4798d5964d..59c169ea333d5 100644
--- a/dart/dynamics/PlaneShape.h
+++ b/dart/dynamics/PlaneShape.h
@@ -56,7 +56,7 @@ class PlaneShape : public Shape
   // TODO(JS): Not implemented yet
   void draw(renderer::RenderInterface* _ri = nullptr,
             const Eigen::Vector4d& _col = Eigen::Vector4d::Ones(),
-            bool _default = true) const;
+            bool _default = true) const override;
 
   // Documentation inherited.
   Eigen::Matrix3d computeInertia(double mass) const override;
diff --git a/dart/dynamics/SoftMeshShape.h b/dart/dynamics/SoftMeshShape.h
index 36f2439ae5e67..553bccc76173a 100644
--- a/dart/dynamics/SoftMeshShape.h
+++ b/dart/dynamics/SoftMeshShape.h
@@ -72,7 +72,7 @@ class SoftMeshShape : public Shape
   virtual void draw(
       renderer::RenderInterface* _ri      = nullptr,
       const Eigen::Vector4d&     _col     = Eigen::Vector4d::Ones(),
-      bool                       _default = true) const;
+      bool                       _default = true) const override;
 
 protected:
   // Documentation inherited.