Abstract The present-day envelope of gaseous planets is a relic of how these giant planets originated and evolved. Measuring their elemental composition therefore presents a powerful opportunity to answer long-standing questions regarding planet formation. Obtaining precise observational constraints on the elemental inventory of giant exoplanets has, however, remained challenging owing to the limited simultaneous wavelength coverage of current space-based instruments. Here, we present thermal emission observations of the nontransiting hot Jupiter τ Boo b using the new wide wavelength coverage (0.95–2.50 μm) and high spectral resolution (R = 70,000) CFHT/SPIRou spectrograph. By combining a total of 20 hr of SPIRou data obtained over five nights in a full atmospheric retrieval framework designed for high-resolution data, we constrain the abundances of all the major oxygen- and carbon-bearing molecules and recover a noninverted temperature structure using a new free-shape, nonparametric temperature–pressure profile retrieval approach. We find a volume mixing ratio of log(CO) = − 2.46 − 0.29 + 0.25 and a highly depleted water abundance of less than 0.0072 times the expected value for a solar composition envelope. Combined with upper limits on the abundances of CH₄, CO₂, HCN, TiO, and C₂H₂, this results in a gas-phase C/H ratio of 5.85 − 2.82 + 4.44 × solar, consistent with the value of Jupiter, and an envelope C/O ratio robustly greater than 0.60, even when taking into account the oxygen that may be sequestered out of the gas phase. Combined, the inferred supersolar C/H, O/H, and C/O ratios on τ Boo b support a formation scenario beyond the water snowline in a disk enriched in CO owing to pebble drift.