Orientational ordering driven by mechanical distortion of soft substrates plays a major role in material transformation processes such as elastocapillarity and surface anchoring. We present a theoretical model of the orientational response of anisotropic rods deposited onto a surface of a soft, elastic substrate of finite thickness. We show that anisotropic rods exhibit a continuous isotropic–nematic phase transition, driven by orientational interactions between surface deposited rods. This interaction is mediated by the deformation of the underlying elastic substrate and is quantified by the Boussinesq solution adapted to the case of slender, surface deposited rods. From the microscopic rod–rod interactions, we derive the appropriate Maier–Saupe mean-field description, which includes the Boussinesq elastic free energy contribution due to the substrate elasticity, derive the conditions for the existence of a continuous orientational ordering transition, and discuss the implication of results in the soft (bio)system context.