diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
index b9ff388507..b9405b47b9 100644
--- a/.github/workflows/linux.yml
+++ b/.github/workflows/linux.yml
@@ -21,7 +21,7 @@ jobs:
         submodules: recursive
 
     - name: Setup ccache
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         key: ${{ matrix.os }}
         path: ${{ env.CCACHE_DIR }}
diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml
index 10eddac11f..64e4019ff5 100644
--- a/.github/workflows/macos-linux-conda.yml
+++ b/.github/workflows/macos-linux-conda.yml
@@ -29,7 +29,7 @@ jobs:
       with:
         submodules: recursive
 
-    - uses: actions/cache@v3
+    - uses: actions/cache@v4
       with:
         path: ${{ env.CCACHE_DIR }}
         key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}
diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index 38f5d54e9b..aad3ec207a 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -33,7 +33,7 @@ jobs:
         with:
           submodules: recursive
       # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v3
+      - uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}