diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 0e3f179..bd01c4e 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -22,9 +22,9 @@ jobs:
         python-version: [3.7, 3.8, 3.9]
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Set up Python ${{ matrix.python-version }}
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
         python-version: ${{ matrix.python-version }}
     - name: Install dependencies
diff --git a/docs/misc/changelog.rst b/docs/misc/changelog.rst
index 6ad4d12..2bb377b 100644
--- a/docs/misc/changelog.rst
+++ b/docs/misc/changelog.rst
@@ -31,6 +31,7 @@ Others:
 - Fixed ``sb3_contrib/common/recurrent/type_aliases.py`` type hint
 - Exposed modules in `__init__.py` with `__all__` attribute (@ZikangXiong)
 - Removed ignores on Flake8 F401 (@ZikangXiong)
+- Upgraded GitHub CI/setup-python to v4 and checkout to v3
 
 Release 1.6.2 (2022-10-10)
 --------------------------