diff --git a/doc/_pages/from_binary.md b/doc/_pages/from_binary.md
index 1773c90e4aac..d10959404522 100644
--- a/doc/_pages/from_binary.md
+++ b/doc/_pages/from_binary.md
@@ -66,6 +66,8 @@ Download the binary release ``*.tar.gz`` file, using one of the links above.
 In the example below, we'll use ``drake.tar.gz`` to refer to it, but your
 download will have a more version-specific filename.
 
+#### Ubuntu
+
 Create and activate the environment:
 
 ```bash
@@ -77,11 +79,32 @@ source env/bin/activate
 
 Install dependencies within the environment:
 
+```bash
+sudo env/share/drake/setup/install_prereqs
+````
+
+Refer to [Quickstart](/installation.html#quickstart) for next steps.
+
+#### macOS
+
+Create the environment:
+
+```bash
+mkdir -p env
+tar -xvzf drake.tar.gz -C env --strip-components=1
+```
+
+Install dependencies within the environment:
+
 ```bash
 env/share/drake/setup/install_prereqs
 ````
 
-(On Ubuntu, the script might ask to be run under ``sudo``.)
+Activate the environment:
+
+```bash
+source env/bin/activate
+```
 
 Refer to [Quickstart](/installation.html#quickstart) for next steps.
 
diff --git a/setup/BUILD.bazel b/setup/BUILD.bazel
index 8e5fe09d8571..ab500a079e23 100644
--- a/setup/BUILD.bazel
+++ b/setup/BUILD.bazel
@@ -7,7 +7,6 @@ package(default_visibility = ["//visibility:public"])
 # downstream projects.
 exports_files([
     "mac/binary_distribution/Brewfile",
-    "mac/binary_distribution/requirements.txt",
     "mac/source_distribution/Brewfile",
     "mac/source_distribution/Brewfile-doc-only",
     "mac/source_distribution/Brewfile-maintainer-only",
@@ -44,7 +43,9 @@ install_files(
         "//tools/cc_toolchain:apple": [
             "mac/binary_distribution/Brewfile",
             "mac/binary_distribution/install_prereqs.sh",
-            "mac/binary_distribution/requirements.txt",
+            "python/pdm.lock",
+            "python/pyproject.toml",
+            "python/requirements.txt",
         ],
         "//tools/cc_toolchain:linux": [
             "deepnote/install_nginx",
@@ -58,6 +59,7 @@ install_files(
     strip_prefix = [
         "mac/binary_distribution",
         "ubuntu/binary_distribution",
+        "python",
     ],
     rename = {
         "share/drake/setup/install_prereqs.sh": "install_prereqs",
diff --git a/setup/mac/binary_distribution/Brewfile b/setup/mac/binary_distribution/Brewfile
index f09980c47396..4a70781ce393 100644
--- a/setup/mac/binary_distribution/Brewfile
+++ b/setup/mac/binary_distribution/Brewfile
@@ -9,7 +9,6 @@ brew 'fmt'
 brew 'glib'
 brew 'graphviz'
 brew 'ipopt'
-brew 'numpy'
 brew 'pkg-config'
 brew 'python@3.12'
 brew 'spdlog'
diff --git a/setup/mac/binary_distribution/install_prereqs.sh b/setup/mac/binary_distribution/install_prereqs.sh
index 2a90dcdf4f9c..21b36f768dc9 100755
--- a/setup/mac/binary_distribution/install_prereqs.sh
+++ b/setup/mac/binary_distribution/install_prereqs.sh
@@ -67,5 +67,10 @@ if ! command -v pip3.12 &>/dev/null; then
 fi
 
 if [[ "${with_python_dependencies}" -eq 1 ]]; then
-  pip3.12 install --break-system-packages -r "${BASH_SOURCE%/*}/requirements.txt"
+  readonly setup="${BASH_SOURCE%/*}"
+  readonly venv_root="$(cd "${setup}/../../.." && pwd)"
+  python3.12 -m venv "${venv_root}"
+  "${venv_root}/bin/pip3" install -U -r "${setup}/requirements.txt"
+  "${venv_root}/bin/pdm" use -p "${setup}" -f "${venv_root}"
+  "${venv_root}/bin/pdm" sync -p "${setup}" --prod
 fi
diff --git a/setup/mac/binary_distribution/requirements.txt b/setup/mac/binary_distribution/requirements.txt
deleted file mode 100644
index 08e81aad2b41..000000000000
--- a/setup/mac/binary_distribution/requirements.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-# PyPI packages to install via pip for binary Drake distributions.
-
-# WARNING for Drake Developers: This list must be kept in sync with
-# setup/python/pyproject.toml.
-
-ipywidgets
-matplotlib
-notebook
-Pillow
-pydot
-PyYAML
diff --git a/setup/python/pdm.lock b/setup/python/pdm.lock
index 334ab2efeca3..a65631bc300d 100644
--- a/setup/python/pdm.lock
+++ b/setup/python/pdm.lock
@@ -5,7 +5,7 @@
 groups = ["default", "test", "wheel"]
 strategy = ["inherit_metadata"]
 lock_version = "4.5.0"
-content_hash = "sha256:6e0102fe5ea6c29e8888d56dfc6686fb1c73a2070f8dbff0e62ced5adb76a886"
+content_hash = "sha256:100ca73d9872db129fe8024b21ae233953a204b3ffc7231ac35eb9cd1fca4fab"
 
 [[metadata.targets]]
 requires_python = ">=3.10"
diff --git a/setup/python/pyproject.toml b/setup/python/pyproject.toml
index ab21a4c64b07..76ed62db058c 100644
--- a/setup/python/pyproject.toml
+++ b/setup/python/pyproject.toml
@@ -15,13 +15,11 @@ name = "drake"
 requires-python = ">=3.10"
 
 # Dependencies needed to build Drake.
-#
-# WARNING for Drake Developers: This list must be kept in sync with
-# setup/mac/binary_distribution/requirements.txt.
 dependencies = [
     "ipywidgets",
     "matplotlib",
     "notebook",
+    "numpy",
     "Pillow",
     "pydot",
     "PyYAML",