diff --git a/v2/bundle/jwtbundle/bundle.go b/v2/bundle/jwtbundle/bundle.go
index 507c372..ff2fcd7 100644
--- a/v2/bundle/jwtbundle/bundle.go
+++ b/v2/bundle/jwtbundle/bundle.go
@@ -7,15 +7,13 @@ import (
 	"os"
 	"sync"
 
-	"github.com/go-jose/go-jose/v3"
+	"github.com/go-jose/go-jose/v4"
 	"github.com/spiffe/go-spiffe/v2/internal/jwtutil"
 	"github.com/spiffe/go-spiffe/v2/spiffeid"
 	"github.com/zeebo/errs"
 )
 
-var (
-	jwtbundleErr = errs.Class("jwtbundle")
-)
+var jwtbundleErr = errs.Class("jwtbundle")
 
 // Bundle is a collection of trusted JWT authorities for a trust domain.
 type Bundle struct {
diff --git a/v2/bundle/spiffebundle/bundle.go b/v2/bundle/spiffebundle/bundle.go
index 56856fd..be17642 100644
--- a/v2/bundle/spiffebundle/bundle.go
+++ b/v2/bundle/spiffebundle/bundle.go
@@ -9,7 +9,7 @@ import (
 	"sync"
 	"time"
 
-	"github.com/go-jose/go-jose/v3"
+	"github.com/go-jose/go-jose/v4"
 	"github.com/spiffe/go-spiffe/v2/bundle/jwtbundle"
 	"github.com/spiffe/go-spiffe/v2/bundle/x509bundle"
 	"github.com/spiffe/go-spiffe/v2/internal/jwtutil"
@@ -23,9 +23,7 @@ const (
 	jwtSVIDUse  = "jwt-svid"
 )
 
-var (
-	spiffebundleErr = errs.Class("spiffebundle")
-)
+var spiffebundleErr = errs.Class("spiffebundle")
 
 type bundleDoc struct {
 	jose.JSONWebKeySet
diff --git a/v2/go.mod b/v2/go.mod
index 2b60c11..4803b36 100644
--- a/v2/go.mod
+++ b/v2/go.mod
@@ -1,10 +1,10 @@
 module github.com/spiffe/go-spiffe/v2
 
-go 1.19
+go 1.21
 
 require (
 	github.com/Microsoft/go-winio v0.6.1
-	github.com/go-jose/go-jose/v3 v3.0.1
+	github.com/go-jose/go-jose/v4 v4.0.1
 	github.com/stretchr/testify v1.9.0
 	github.com/zeebo/errs v1.3.0
 	google.golang.org/grpc v1.62.1
@@ -17,10 +17,10 @@ require (
 	github.com/golang/protobuf v1.5.3 // indirect
 	github.com/kr/pretty v0.1.0 // indirect
 	github.com/pmezard/go-difflib v1.0.0 // indirect
-	golang.org/x/crypto v0.18.0 // indirect
+	golang.org/x/crypto v0.19.0 // indirect
 	golang.org/x/mod v0.8.0 // indirect
 	golang.org/x/net v0.20.0 // indirect
-	golang.org/x/sys v0.16.0 // indirect
+	golang.org/x/sys v0.17.0 // indirect
 	golang.org/x/text v0.14.0 // indirect
 	golang.org/x/tools v0.6.0 // indirect
 	google.golang.org/genproto/googleapis/rpc v0.0.0-20240123012728-ef4313101c80 // indirect
diff --git a/v2/go.sum b/v2/go.sum
index bdbe90e..f5f7698 100644
--- a/v2/go.sum
+++ b/v2/go.sum
@@ -1,16 +1,15 @@
 github.com/Microsoft/go-winio v0.6.1 h1:9/kr64B9VUZrLm5YYwbGtUJnMgqWVOdUAXu6Migciow=
 github.com/Microsoft/go-winio v0.6.1/go.mod h1:LRdKpFKfdobln8UmuiYcKPot9D2v6svN5+sAH+4kjUM=
-github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
-github.com/go-jose/go-jose/v3 v3.0.1 h1:pWmKFVtt+Jl0vBZTIpz/eAKwsm6LkIxDVVbFHKkchhA=
-github.com/go-jose/go-jose/v3 v3.0.1/go.mod h1:RNkWWRld676jZEYoV3+XK8L2ZnNSvIsxFMht0mSX+u8=
+github.com/go-jose/go-jose/v4 v4.0.1 h1:QVEPDE3OluqXBQZDcnNvQrInro2h0e4eqNbnZSWqS6U=
+github.com/go-jose/go-jose/v4 v4.0.1/go.mod h1:WVf9LFMHh/QVrmqrOfqun0C45tMe3RoiKJMPvgWwLfY=
 github.com/golang/protobuf v1.5.0/go.mod h1:FsONVRAS9T7sI+LIUmWTfcYkHO4aIWwzhcaSAoJOfIk=
 github.com/golang/protobuf v1.5.3 h1:KhyjKVUg7Usr/dYsdSqoFveMYd5ko72D+zANwlG1mmg=
 github.com/golang/protobuf v1.5.3/go.mod h1:XVQd3VNwM+JqD3oG2Ue2ip4fOMUkwXdXDdiuN0vRsmY=
-github.com/google/go-cmp v0.5.0/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
 github.com/google/go-cmp v0.5.5/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
 github.com/google/go-cmp v0.6.0 h1:ofyhxvXcZhMsU5ulbFiLKl/XBFqE1GSq7atu8tAmTRI=
+github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
 github.com/kr/pretty v0.1.0 h1:L/CwN0zerZDmRFUapSPitk6f+Q3+0za1rQkzVuMiMFI=
 github.com/kr/pretty v0.1.0/go.mod h1:dAy3ld7l9f0ibDNOQOHHMYYIIbhfbHSm3C4ZsoJORNo=
 github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
@@ -18,27 +17,20 @@ github.com/kr/text v0.1.0 h1:45sCR5RtlFHMR4UwH9sdQ5TC8v0qDQCHnXt+kaKSTVE=
 github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
 github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
-github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
-github.com/stretchr/testify v1.6.1/go.mod h1:6Fq8oRcR53rry900zMqJjRRixrwX3KX962/h/Wwjteg=
 github.com/stretchr/testify v1.9.0 h1:HtqpIVDClZ4nwg75+f6Lvsy/wHu+3BoSGCbBAcpTsTg=
 github.com/stretchr/testify v1.9.0/go.mod h1:r2ic/lqez/lEtzL7wO/rwa5dbSLXVDPFyf8C91i36aY=
 github.com/zeebo/errs v1.3.0 h1:hmiaKqgYZzcVgRL1Vkc1Mn2914BbzB0IBxs+ebeutGs=
 github.com/zeebo/errs v1.3.0/go.mod h1:sgbWHsvVuTPHcqJJGQ1WhI5KbWlHYz+2+2C/LSEtCw4=
-golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w=
-golang.org/x/crypto v0.0.0-20190911031432-227b76d455e7/go.mod h1:yigFU9vqHzYiE8UmvKecakEJjdnWj3jj499lnFckfCI=
-golang.org/x/crypto v0.18.0 h1:PGVlW0xEltQnzFZ55hkuX5+KLyrMYhHld1YHO4AKcdc=
-golang.org/x/crypto v0.18.0/go.mod h1:R0j02AL6hcrfOiy9T4ZYp/rcWeMxM3L6QYxlOuEG1mg=
+golang.org/x/crypto v0.19.0 h1:ENy+Az/9Y1vSrlrvBSyna3PITt4tiZLf7sgCjZBX7Wo=
+golang.org/x/crypto v0.19.0/go.mod h1:Iy9bg/ha4yyC70EfRS8jz+B6ybOBKMaSxLj6P6oBDfU=
 golang.org/x/mod v0.8.0 h1:LUYupSeNrTNCGzR/hVBk2NHZO4hXcVaW1k4Qx7rjPx8=
 golang.org/x/mod v0.8.0/go.mod h1:iBbtSCu2XBx23ZKBPSOrRkjjQPZFPuis4dIYUhu/chs=
-golang.org/x/net v0.0.0-20190404232315-eb5bcb51f2a3/go.mod h1:t9HGtf8HONx5eT2rtn7q6eTqICYqUVnKs3thJo3Qplg=
 golang.org/x/net v0.20.0 h1:aCL9BSgETF1k+blQaYUBx9hJ9LOGP3gAVemcZlf1Kpo=
 golang.org/x/net v0.20.0/go.mod h1:z8BVo6PvndSri0LbOE3hAn0apkU+1YvI6E70E9jsnvY=
 golang.org/x/sync v0.6.0 h1:5BMeUDZ7vkXGfEr1x9B4bRcTH4lpkTkpdh0T/J+qjbQ=
-golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
-golang.org/x/sys v0.0.0-20190412213103-97732733099d/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
-golang.org/x/sys v0.16.0 h1:xWw16ngr6ZMtmxDyKyIgsE93KNKz5HKmMa3b8ALHidU=
-golang.org/x/sys v0.16.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
-golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
+golang.org/x/sync v0.6.0/go.mod h1:Czt+wKu1gCyEFDUtn0jG5QVvpJ6rzVqr5aXyt9drQfk=
+golang.org/x/sys v0.17.0 h1:25cE3gD+tdBA7lp7QfhuV+rJiE9YXTcS3VG1SqssI/Y=
+golang.org/x/sys v0.17.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
 golang.org/x/text v0.14.0 h1:ScX5w1eTa3QqT8oi6+ziP7dTV1S2+ALU0bI+0zXKWiQ=
 golang.org/x/text v0.14.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU=
 golang.org/x/tools v0.6.0 h1:BOw41kyTf3PuCW1pVQf8+Cyg8pMlkYB1oo9iJ6D/lKM=
@@ -57,6 +49,5 @@ google.golang.org/protobuf v1.33.0/go.mod h1:c6P6GXX6sHbq/GpV6MGZEdwhWPcYBgnhAHh
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127 h1:qIbj1fsPNlZgppZ+VLlY7N33q108Sa+fhmuc+sWQYwY=
 gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
-gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
 gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA=
 gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
diff --git a/v2/internal/test/ca.go b/v2/internal/test/ca.go
index f4f8092..53a291f 100644
--- a/v2/internal/test/ca.go
+++ b/v2/internal/test/ca.go
@@ -13,9 +13,9 @@ import (
 	"testing"
 	"time"
 
-	"github.com/go-jose/go-jose/v3"
-	"github.com/go-jose/go-jose/v3/cryptosigner"
-	"github.com/go-jose/go-jose/v3/jwt"
+	"github.com/go-jose/go-jose/v4"
+	"github.com/go-jose/go-jose/v4/cryptosigner"
+	"github.com/go-jose/go-jose/v4/jwt"
 	"github.com/spiffe/go-spiffe/v2/bundle/jwtbundle"
 	"github.com/spiffe/go-spiffe/v2/bundle/spiffebundle"
 	"github.com/spiffe/go-spiffe/v2/bundle/x509bundle"
@@ -26,9 +26,7 @@ import (
 	"github.com/stretchr/testify/require"
 )
 
-var (
-	localhostIPs = []net.IP{net.IPv4(127, 0, 0, 1), net.IPv6loopback}
-)
+var localhostIPs = []net.IP{net.IPv4(127, 0, 0, 1), net.IPv6loopback}
 
 type CA struct {
 	tb     testing.TB
@@ -101,7 +99,7 @@ func (ca *CA) CreateJWTSVID(id spiffeid.ID, audience []string, options ...SVIDOp
 	)
 	require.NoError(ca.tb, err)
 
-	signedToken, err := jwt.Signed(jwtSigner).Claims(claims).CompactSerialize()
+	signedToken, err := jwt.Signed(jwtSigner).Claims(claims).Serialize()
 	require.NoError(ca.tb, err)
 
 	svid, err := jwtsvid.ParseInsecure(signedToken, audience)
diff --git a/v2/svid/jwtsvid/svid.go b/v2/svid/jwtsvid/svid.go
index ddbfac3..d46f800 100644
--- a/v2/svid/jwtsvid/svid.go
+++ b/v2/svid/jwtsvid/svid.go
@@ -1,17 +1,28 @@
 package jwtsvid
 
 import (
-	"fmt"
 	"time"
 
-	"github.com/go-jose/go-jose/v3"
-	"github.com/go-jose/go-jose/v3/jwt"
+	"github.com/go-jose/go-jose/v4"
+	"github.com/go-jose/go-jose/v4/jwt"
 	"github.com/spiffe/go-spiffe/v2/bundle/jwtbundle"
 	"github.com/spiffe/go-spiffe/v2/spiffeid"
 	"github.com/zeebo/errs"
 )
 
 var (
+	allowedSignatureAlgorithms = []jose.SignatureAlgorithm{
+		jose.RS256,
+		jose.RS384,
+		jose.RS512,
+		jose.ES256,
+		jose.ES384,
+		jose.ES512,
+		jose.PS256,
+		jose.PS384,
+		jose.PS512,
+	}
+
 	jwtsvidErr = errs.Class("jwtsvid")
 )
 
@@ -90,16 +101,11 @@ func (svid *SVID) Marshal() string {
 
 func parse(token string, audience []string, getClaims tokenValidator) (*SVID, error) {
 	// Parse serialized token
-	tok, err := jwt.ParseSigned(token)
+	tok, err := jwt.ParseSigned(token, allowedSignatureAlgorithms)
 	if err != nil {
 		return nil, jwtsvidErr.New("unable to parse JWT token")
 	}
 
-	// Validates supported token signed algorithm
-	if err := validateTokenAlgorithm(tok); err != nil {
-		return nil, err
-	}
-
 	// Parse out the unverified claims. We need to look up the key by the trust
 	// domain of the SPIFFE ID.
 	var claims jwt.Claims
@@ -127,8 +133,8 @@ func parse(token string, audience []string, getClaims tokenValidator) (*SVID, er
 
 	// Validate the standard claims.
 	if err := claims.Validate(jwt.Expected{
-		Audience: audience,
-		Time:     time.Now(),
+		AnyAudience: audience,
+		Time:        time.Now(),
 	}); err != nil {
 		// Convert expected validation errors for pretty errors
 		switch err {
@@ -148,23 +154,3 @@ func parse(token string, audience []string, getClaims tokenValidator) (*SVID, er
 		token:    token,
 	}, nil
 }
-
-// validateTokenAlgorithm json web token have only one header, and it is signed for a supported algorithm
-func validateTokenAlgorithm(tok *jwt.JSONWebToken) error {
-	// Only one header is expected
-	if len(tok.Headers) != 1 {
-		return fmt.Errorf("expected a single token header; got %d", len(tok.Headers))
-	}
-
-	// Make sure it has an algorithm supported by JWT-SVID
-	alg := tok.Headers[0].Algorithm
-	switch jose.SignatureAlgorithm(alg) {
-	case jose.RS256, jose.RS384, jose.RS512,
-		jose.ES256, jose.ES384, jose.ES512,
-		jose.PS256, jose.PS384, jose.PS512:
-	default:
-		return jwtsvidErr.New("unsupported token signature algorithm %q", alg)
-	}
-
-	return nil
-}
diff --git a/v2/svid/jwtsvid/svid_test.go b/v2/svid/jwtsvid/svid_test.go
index be59f5b..78c23e6 100644
--- a/v2/svid/jwtsvid/svid_test.go
+++ b/v2/svid/jwtsvid/svid_test.go
@@ -11,9 +11,9 @@ import (
 	"testing"
 	"time"
 
-	"github.com/go-jose/go-jose/v3"
-	"github.com/go-jose/go-jose/v3/cryptosigner"
-	"github.com/go-jose/go-jose/v3/jwt"
+	"github.com/go-jose/go-jose/v4"
+	"github.com/go-jose/go-jose/v4/cryptosigner"
+	"github.com/go-jose/go-jose/v4/jwt"
 	"github.com/spiffe/go-spiffe/v2/bundle/jwtbundle"
 	"github.com/spiffe/go-spiffe/v2/spiffeid"
 	"github.com/spiffe/go-spiffe/v2/svid/jwtsvid"
@@ -24,8 +24,19 @@ const hs256Token = "eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJzdWIiOiIxMjM0NTY3ODk
 	"4gRG9lIiwiaWF0IjoxNTE2MjM5MDIyfQ.SflKxwRJSMeKKF2QT4fwpMeJf36POk6yJV_adQssw5c"
 
 var (
-	key1, _ = ecdsa.GenerateKey(elliptic.P384(), rand.Reader)
-	key2, _ = rsa.GenerateKey(rand.Reader, 2048)
+	key1, _                        = ecdsa.GenerateKey(elliptic.P384(), rand.Reader)
+	key2, _                        = rsa.GenerateKey(rand.Reader, 2048)
+	testAllowedSignatureAlgorithms = []jose.SignatureAlgorithm{
+		jose.RS256,
+		jose.RS384,
+		jose.RS512,
+		jose.ES256,
+		jose.ES384,
+		jose.ES512,
+		jose.PS256,
+		jose.PS384,
+		jose.PS512,
+	}
 )
 
 func TestParseAndValidate(t *testing.T) {
@@ -86,7 +97,7 @@ func TestParseAndValidate(t *testing.T) {
 			generateToken: func(tb testing.TB) string {
 				return hs256Token
 			},
-			err: `jwtsvid: unsupported token signature algorithm "HS256"`,
+			err: "jwtsvid: unable to parse JWT token",
 		},
 		{
 			name:   "missing subject",
@@ -313,7 +324,7 @@ func TestParseInsecure(t *testing.T) {
 			generateToken: func(tb testing.TB) string {
 				return hs256Token
 			},
-			err: `jwtsvid: unsupported token signature algorithm "HS256"`,
+			err: "jwtsvid: unable to parse JWT token",
 		},
 		{
 			name: "missing subject claim",
@@ -450,7 +461,7 @@ func TestMarshal(t *testing.T) {
 }
 
 func parseToken(t testing.TB, token string) map[string]interface{} {
-	tok, err := jwt.ParseSigned(token)
+	tok, err := jwt.ParseSigned(token, testAllowedSignatureAlgorithms)
 	require.NoError(t, err)
 	claimsMap := make(map[string]interface{})
 	err = tok.UnsafeClaimsWithoutVerification(&claimsMap)
@@ -478,7 +489,7 @@ func generateToken(tb testing.TB, claims jwt.Claims, signer crypto.Signer, keyID
 	require.NoError(tb, err)
 
 	// Sign and serialize token
-	token, err := jwt.Signed(jwtSigner).Claims(claims).CompactSerialize()
+	token, err := jwt.Signed(jwtSigner).Claims(claims).Serialize()
 	require.NoError(tb, err)
 
 	return token