diff --git a/README.md b/README.md
index b57368515235..b54381eb28cf 100644
--- a/README.md
+++ b/README.md
@@ -220,7 +220,7 @@ We will always endeavor to support the latest stable version of TypeScript. Some
 
 **The version range of TypeScript currently supported by this parser is `>=3.2.1 <3.7.0`.**
 
-This is reflected in the `devDependency` requirement within the package.json file, and it is what the tests will be run against. We have an open `peerDependency` requirement in order to allow for experimentation on newer/beta versions of TypeScript.
+This is reflected in the `devDependency` requirement within the package.json file, and it is what the tests will be run against. We have an open `optionalDependency` requirement in order to allow for experimentation on newer/beta versions of TypeScript.
 
 If you use a non-supported version of TypeScript, the parser will log a warning to the console. If you want to disable this warning, you can configure this in your `parserOptions`. See: [`@typescript-eslint/parser`](./packages/parser/) and [`@typescript-eslint/typescript-estree`](./packages/typescript-estree/).
 
diff --git a/packages/parser/README.md b/packages/parser/README.md
index 9fcb9d043633..3b4a64cf4506 100644
--- a/packages/parser/README.md
+++ b/packages/parser/README.md
@@ -16,6 +16,8 @@
 npm install @typescript-eslint/parser --save-dev
 ```
 
+Note: `@typescript-eslint/parser` assumes you have `typescript` already installed. Please read the documentation [here](https://github.com/typescript-eslint/typescript-eslint#supported-typescript-version) for more details.
+
 ## Usage
 
 In your ESLint configuration file, set the `parser` property:
diff --git a/packages/typescript-estree/README.md b/packages/typescript-estree/README.md
index 55cf645d88ec..3b90474c6f45 100644
--- a/packages/typescript-estree/README.md
+++ b/packages/typescript-estree/README.md
@@ -27,6 +27,8 @@ In fact, it is already used within these hyper-popular open-source projects to p
 npm install @typescript-eslint/typescript-estree --save-dev
 ```
 
+Note: `@typescript-eslint/typescript-estree` assumes you have `typescript` already installed. Please read the documentation [here](https://github.com/typescript-eslint/typescript-eslint#supported-typescript-version) for more details.
+
 ## API
 
 ### parse(code, options)
diff --git a/packages/typescript-estree/package.json b/packages/typescript-estree/package.json
index 906c23639a36..380036cbf82c 100644
--- a/packages/typescript-estree/package.json
+++ b/packages/typescript-estree/package.json
@@ -61,5 +61,8 @@
     "glob": "^7.1.4",
     "lodash.isplainobject": "4.0.6",
     "typescript": "*"
+  },
+  "optionalDependencies": {
+    "typescript": "*"
   }
 }