diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index a4653e2cd7..a5977f405b 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -81,7 +81,7 @@ jobs:
           # free up a lot of stuff from /usr/local
           sudo rm -rf /usr/local
           df -h
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: testspace-com/setup-testspace@v1
         if: github.repository == 'ros-planning/moveit2'
         with:
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index e7014c73b6..a1a7a2057f 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -154,7 +154,7 @@ jobs:
       PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }}
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v2
       - name: Login to Github Container Registry
diff --git a/.github/workflows/docker_lint.yaml b/.github/workflows/docker_lint.yaml
index 4aef41010a..2806d563ad 100644
--- a/.github/workflows/docker_lint.yaml
+++ b/.github/workflows/docker_lint.yaml
@@ -21,7 +21,7 @@ jobs:
     name: Lint Dockerfiles
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: hadolint/hadolint-action@v3.1.0
         with:
           dockerfile: .docker/${{ matrix.DOCKERFILE_PATH }}/Dockerfile
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index 75a0bf6c9f..0be2212627 100644
--- a/.github/workflows/format.yaml
+++ b/.github/workflows/format.yaml
@@ -15,7 +15,7 @@ jobs:
     name: Format
     runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: actions/setup-python@v4
       with:
         python-version: '3.10'
diff --git a/.github/workflows/prerelease.yaml b/.github/workflows/prerelease.yaml
index 1f35050b3d..28e0eed4fc 100644
--- a/.github/workflows/prerelease.yaml
+++ b/.github/workflows/prerelease.yaml
@@ -21,6 +21,6 @@ jobs:
     name: "${{ matrix.distro }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: industrial_ci
         uses: ros-industrial/industrial_ci@master
diff --git a/.github/workflows/sonar.yaml b/.github/workflows/sonar.yaml
index d50f260e98..f3edd1a56e 100644
--- a/.github/workflows/sonar.yaml
+++ b/.github/workflows/sonar.yaml
@@ -55,7 +55,7 @@ jobs:
           # free up a lot of stuff from /usr/local
           sudo rm -rf /usr/local
           df -h
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: testspace-com/setup-testspace@v1
         if: github.repository == 'ros-planning/moveit2'
         with: