diff --git a/paddle/fluid/inference/tensorrt/helper.h b/paddle/fluid/inference/tensorrt/helper.h
index 55a57caf9a0d6eb44399ceb8064b613afb955d47..971f99e69197226bb7d7b26135f0b667f8ebdf30 100644
--- a/paddle/fluid/inference/tensorrt/helper.h
+++ b/paddle/fluid/inference/tensorrt/helper.h
@@ -56,9 +56,11 @@ static nvinfer1::IRuntime* createInferRuntime(nvinfer1::ILogger* logger) {
   return static_cast<nvinfer1::IRuntime*>(
       dy::createInferRuntime_INTERNAL(logger, NV_TENSORRT_VERSION));
 }
-static nvinfer1::IPluginRegistry* getPluginRegistry() {
+#if IS_TRT_VERSION_GE(6000)
+static nvinfer1::IPluginRegistry* GetPluginRegistry() {
   return static_cast<nvinfer1::IPluginRegistry*>(dy::getPluginRegistry());
 }
+#endif
 
 // A logger for create TensorRT infer builder.
 class NaiveLogger : public nvinfer1::ILogger {
diff --git a/paddle/fluid/inference/tensorrt/plugin/trt_plugin.h b/paddle/fluid/inference/tensorrt/plugin/trt_plugin.h
index 33eec618ff62bd04e368d63839b7ee669f7f9519..0ad609be7dbb4e419d1a3c79e1a6a45b56be9e0e 100644
--- a/paddle/fluid/inference/tensorrt/plugin/trt_plugin.h
+++ b/paddle/fluid/inference/tensorrt/plugin/trt_plugin.h
@@ -178,7 +178,6 @@ class DynamicPluginTensorRT : public nvinfer1::IPluginV2DynamicExt {
   std::string name_space_;
   std::string plugin_base_;
 };
-#endif
 
 template <typename T>
 class TrtPluginRegistrarV2 {
@@ -197,6 +196,7 @@ class TrtPluginRegistrarV2 {
 #define REGISTER_TRT_PLUGIN_V2(name)                                     \
   static paddle::inference::tensorrt::plugin::TrtPluginRegistrarV2<name> \
       plugin_registrar_##name {}
+#endif
 
 }  // namespace plugin
 }  // namespace tensorrt
diff --git a/paddle/fluid/platform/dynload/tensorrt.h b/paddle/fluid/platform/dynload/tensorrt.h
index 34ad1e74588805b20543ba68869bf4e466b5911f..67a79ce4bb1594afd23d960d18b75a8f0f1b2513 100644
--- a/paddle/fluid/platform/dynload/tensorrt.h
+++ b/paddle/fluid/platform/dynload/tensorrt.h
@@ -36,7 +36,6 @@ extern void* tensorrt_dso_handle;
   struct DynLoad__##__name {                                                  \
     template <typename... Args>                                               \
     auto operator()(Args... args) -> DECLARE_TYPE(__name, args...) {          \
-      using tensorrt_func = decltype(&::__name);                              \
       std::call_once(tensorrt_dso_flag, []() {                                \
         tensorrt_dso_handle = paddle::platform::dynload::GetTensorRtHandle(); \
       });                                                                     \
@@ -44,15 +43,22 @@ extern void* tensorrt_dso_handle;
       if (p_##__name == nullptr) {                                            \
         return nullptr;                                                       \
       }                                                                       \
+      using tensorrt_func = decltype(&::__name);                              \
       return reinterpret_cast<tensorrt_func>(p_##__name)(args...);            \
     }                                                                         \
   };                                                                          \
   extern DynLoad__##__name __name
 
+#if (NV_TENSORRT_MAJOR >= 6)
 #define TENSORRT_RAND_ROUTINE_EACH(__macro) \
   __macro(createInferBuilder_INTERNAL);     \
   __macro(createInferRuntime_INTERNAL);     \
   __macro(getPluginRegistry);
+#else
+#define TENSORRT_RAND_ROUTINE_EACH(__macro) \
+  __macro(createInferBuilder_INTERNAL);     \
+  __macro(createInferRuntime_INTERNAL);
+#endif
 
 TENSORRT_RAND_ROUTINE_EACH(DECLARE_DYNAMIC_LOAD_TENSORRT_WRAP)