diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml
index eb654b039592..d99c9efef33b 100644
--- a/.github/workflows/compile_nuttx.yml
+++ b/.github/workflows/compile_nuttx.yml
@@ -121,7 +121,7 @@ jobs:
       run: ccache -s
 
     - name: Upload px4 package
-      uses: actions/upload-artifact@v3.1.3
+      uses: actions/upload-artifact@v4.1.0
       with:
         name: px4_package_${{matrix.config}}
         path: |
diff --git a/.github/workflows/mavros_mission_tests.yml b/.github/workflows/mavros_mission_tests.yml
index 96d661529d9e..0d30fe6c8565 100644
--- a/.github/workflows/mavros_mission_tests.yml
+++ b/.github/workflows/mavros_mission_tests.yml
@@ -86,7 +86,7 @@ jobs:
       run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
     - name: Upload px4 coredump
       if: failure()
-      uses: actions/upload-artifact@v3.1.3
+      uses: actions/upload-artifact@v4.1.0
       with:
         name: coredump
         path: px4.core
@@ -101,21 +101,21 @@ jobs:
 
     - name: Upload px4 binary
       if: failure()
-      uses: actions/upload-artifact@v3.1.3
+      uses: actions/upload-artifact@v4.1.0
       with:
         name: binary
         path: build/px4_sitl_default/bin/px4
 
     - name: Store PX4 log
       if: failure()
-      uses: actions/upload-artifact@v3.1.3
+      uses: actions/upload-artifact@v4.1.0
       with:
         name: px4_log
         path: ~/.ros/log/*/*.ulg
 
     - name: Store ROS log
       if: failure()
-      uses: actions/upload-artifact@v3.1.3
+      uses: actions/upload-artifact@v4.1.0
       with:
         name: ros_log
         path: ~/.ros/**/rostest-*.log
diff --git a/.github/workflows/mavros_offboard_tests.yml b/.github/workflows/mavros_offboard_tests.yml
index a69c2be1a591..ecac1e42d51e 100644
--- a/.github/workflows/mavros_offboard_tests.yml
+++ b/.github/workflows/mavros_offboard_tests.yml
@@ -81,7 +81,7 @@ jobs:
       run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
     - name: Upload px4 coredump
       if: failure()
-      uses: actions/upload-artifact@v3.1.3
+      uses: actions/upload-artifact@v4.1.0
       with:
         name: coredump
         path: px4.core
@@ -96,21 +96,21 @@ jobs:
 
     - name: Upload px4 binary
       if: failure()
-      uses: actions/upload-artifact@v3.1.3
+      uses: actions/upload-artifact@v4.1.0
       with:
         name: binary
         path: build/px4_sitl_default/bin/px4
 
     - name: Store PX4 log
       if: failure()
-      uses: actions/upload-artifact@v3.1.3
+      uses: actions/upload-artifact@v4.1.0
       with:
         name: px4_log
         path: ~/.ros/log/*/*.ulg
 
     - name: Store ROS log
       if: failure()
-      uses: actions/upload-artifact@v3.1.3
+      uses: actions/upload-artifact@v4.1.0
       with:
         name: ros_log
         path: ~/.ros/**/rostest-*.log
diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml
index 30c95072b3cc..318ad697ab11 100644
--- a/.github/workflows/sitl_tests.yml
+++ b/.github/workflows/sitl_tests.yml
@@ -104,14 +104,14 @@ jobs:
       run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
     - name: Upload px4 coredump
       if: failure()
-      uses: actions/upload-artifact@v3.1.3
+      uses: actions/upload-artifact@v4.1.0
       with:
         name: coredump
         path: px4.core
 
     - name: Upload px4 binary
       if: failure()
-      uses: actions/upload-artifact@v3.1.3
+      uses: actions/upload-artifact@v4.1.0
       with:
         name: binary
         path: build/px4_sitl_default/bin/px4
diff --git a/.github/workflows/tiiuae-coverity-scan.yaml b/.github/workflows/tiiuae-coverity-scan.yaml
index f52133b43df3..47ad6414f0d0 100644
--- a/.github/workflows/tiiuae-coverity-scan.yaml
+++ b/.github/workflows/tiiuae-coverity-scan.yaml
@@ -30,7 +30,7 @@ jobs:
         run:
           cat cov-analyze-result.txt >> $GITHUB_STEP_SUMMARY
       - name: Upload coverity scan results
-        uses: actions/upload-artifact@v3.1.3
+        uses: actions/upload-artifact@v4.1.0
         with:
           name: coverity-html-report-${{ github.event.repository.name }}
           path: coverity-output
diff --git a/.github/workflows/tiiuae-pixhawk-and-saluki-builder.yaml b/.github/workflows/tiiuae-pixhawk-and-saluki-builder.yaml
index ab6e7726b126..01b42c291129 100644
--- a/.github/workflows/tiiuae-pixhawk-and-saluki-builder.yaml
+++ b/.github/workflows/tiiuae-pixhawk-and-saluki-builder.yaml
@@ -40,7 +40,7 @@ jobs:
           ./build.sh ../bin/ ${{ inputs.product }}
           ls ../bin
       - name: Upload ${{ inputs.product }}
-        uses: actions/upload-artifact@v3.1.3
+        uses: actions/upload-artifact@v4.1.0
         with:
           name: pixhawk
           path: bin/
diff --git a/.github/workflows/tiiuae-pixhawk-and-saluki.yaml b/.github/workflows/tiiuae-pixhawk-and-saluki.yaml
index 50a79afef522..abe618568f6d 100644
--- a/.github/workflows/tiiuae-pixhawk-and-saluki.yaml
+++ b/.github/workflows/tiiuae-pixhawk-and-saluki.yaml
@@ -72,7 +72,7 @@ jobs:
           ./build.sh ../bin/ px4fwupdater
           ls ../bin
       - name: Upload px4fwupdater to tmp storage
-        uses: actions/upload-artifact@v3.1.3
+        uses: actions/upload-artifact@v4.1.0
         with:
           name: pixhawk
           path: bin/