diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 6bfe07ed..31adeec8 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -12,7 +12,7 @@ jobs:
       matrix:
         os: [ ubuntu-18.04, ubuntu-20.04 ]
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: "Update dependencies"
         run: sudo apt-get update
       - name: "Install dependencies"
@@ -26,7 +26,7 @@ jobs:
       matrix:
         os: [ macos-10.15, macos-11 ]
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: "Install dependencies"
         run: brew tap robotology/formulae && brew install qt5 protobuf robotology/formulae/ode
       - name: "Build"
@@ -37,7 +37,7 @@ jobs:
   build-windows:
     runs-on: windows-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: make build directory
         run: mkdir '${{ github.workspace }}/build/'