diff --git a/cmake/CMakeLists.txt b/cmake/CMakeLists.txt
index 83fa0cc00b..dff6e80673 100644
--- a/cmake/CMakeLists.txt
+++ b/cmake/CMakeLists.txt
@@ -938,14 +938,18 @@ if (onnxruntime_USE_CUDA)
   list(APPEND onnxruntime_EXTERNAL_LIBRARIES ${ONNXRUNTIME_CUDA_LIBRARIES})
 
   if(CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
-    string (APPEND CMAKE_CUDA_FLAGS "-gencode=arch=compute_53,code=sm_53 -gencode=arch=compute_62,code=sm_62 ") #nano, TX1, TX2
-    string (APPEND CMAKE_CUDA_FLAGS "-gencode=arch=compute_72,code=sm_72") # Jetson N
+    # Support for Jetson/Tegra ARM devices
+    set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode=arch=compute_53,code=sm_53") # TX1, Nano
+    set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode=arch=compute_62,code=sm_62") # TX2
+    set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode=arch=compute_72,code=sm_72") # AGX Xavier, NX Xavier
   else()
-    # the following compute capabilities are deprecated in CUDA 11 Toolkit
+    # the following compute capabilities are removed in CUDA 11 Toolkit
     if (CMAKE_CUDA_COMPILER_VERSION VERSION_LESS 11)
       set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode=arch=compute_30,code=sm_30") # K series
-      set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode=arch=compute_50,code=sm_50") # M series
     endif()
+    # 37, 50 still work in CUDA 11 but are marked deprecated and will be removed in future CUDA version.
+    set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode=arch=compute_37,code=sm_37") # K80
+    set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode=arch=compute_50,code=sm_50") # M series
 
     set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode=arch=compute_52,code=sm_52") # M60
     set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode=arch=compute_60,code=sm_60") # P series