diff --git a/.github/workflows/bionic_build.yml b/.github/workflows/bionic_build.yml
index 7bd973f9418..cc8614e449a 100644
--- a/.github/workflows/bionic_build.yml
+++ b/.github/workflows/bionic_build.yml
@@ -69,8 +69,8 @@ jobs:
             suffix=
           tags: |
             type=ref,event=branch,prefix=${{ env.ROS_DISTRO }}-
-            type=pep440,pattern={{version}},prefix=${{ env.ROS_DISTRO }}-
-            type=pep440,pattern={{major}}.{{minor}},prefix=${{ env.ROS_DISTRO }}-
+            type=semver,pattern={{version}},prefix=${{ env.ROS_DISTRO }}-
+            type=semver,pattern={{major}}.{{minor}},prefix=${{ env.ROS_DISTRO }}-
 
       - name: Set build type
         run: |
@@ -100,4 +100,4 @@ jobs:
 
       - name: Push post-build Docker
         if: ${{ env.PUSH_DOCKER_IMAGE == 'true' }}
-        run: docker push ${{ steps.meta.outputs.tags }}
+        run: for tag in ${{ steps.meta.outputs.tags }}; do docker push $tag; done
diff --git a/.github/workflows/focal_build.yml b/.github/workflows/focal_build.yml
index fa9e0b77324..c3a62e998ac 100644
--- a/.github/workflows/focal_build.yml
+++ b/.github/workflows/focal_build.yml
@@ -69,8 +69,8 @@ jobs:
             suffix=
           tags: |
             type=ref,event=branch,prefix=${{ env.ROS_DISTRO }}-
-            type=pep440,pattern={{version}},prefix=${{ env.ROS_DISTRO }}-
-            type=pep440,pattern={{major}}.{{minor}},prefix=${{ env.ROS_DISTRO }}-
+            type=semver,pattern={{version}},prefix=${{ env.ROS_DISTRO }}-
+            type=semver,pattern={{major}}.{{minor}},prefix=${{ env.ROS_DISTRO }}-
 
       - name: Set build type
         run: |
@@ -100,5 +100,5 @@ jobs:
           DOCKER_COMMIT: ${{ steps.meta.outputs.tags }}
 
       - name: Push post-build Docker
-        if: ${{ env.PUSH_DOCKER_IMAGE  == 'true' }}
-        run: docker push ${{ steps.meta.outputs.tags }}
+        if: ${{ env.PUSH_DOCKER_IMAGE == 'true' }}
+        run: for tag in ${{ steps.meta.outputs.tags }}; do docker push $tag; done