diff --git a/tools/workspace/gz_math_internal/repository.bzl b/tools/workspace/gz_math_internal/repository.bzl
index 106dfbd63400..1ea8e13db72d 100644
--- a/tools/workspace/gz_math_internal/repository.bzl
+++ b/tools/workspace/gz_math_internal/repository.bzl
@@ -9,8 +9,8 @@ def gz_math_internal_repository(
         # drake/tools/workspace/new_release.py.  When practical, all members
         # of this cohort should be updated at the same time.
         repository = "gazebosim/gz-math",
-        commit = "gz-math8_8.0.0",
-        sha256 = "a78962f329eea0dd70268ca1c196bc28729f1857ec7cd79cacc0ab1269f55b79",  # noqa
+        commit = "gz-math8_8.1.0",
+        sha256 = "0f27c86008b7d23a0d98e58d1987801ad2ba05e99998d0ad143ad399ee47e745",  # noqa
         build_file = ":package.BUILD.bazel",
         mirrors = mirrors,
     )
diff --git a/tools/workspace/gz_utils_internal/repository.bzl b/tools/workspace/gz_utils_internal/repository.bzl
index 85a2a208c14c..44a4bde84826 100644
--- a/tools/workspace/gz_utils_internal/repository.bzl
+++ b/tools/workspace/gz_utils_internal/repository.bzl
@@ -9,8 +9,8 @@ def gz_utils_internal_repository(
         # drake/tools/workspace/new_release.py.  When practical, all members
         # of this cohort should be updated at the same time.
         repository = "gazebosim/gz-utils",
-        commit = "gz-utils3_3.0.0",
-        sha256 = "abb2b9a108c3b752091ddd5b559c0d86f061636e85f24bd547ae91d1554debbf",  # noqa
+        commit = "gz-utils3_3.1.0",
+        sha256 = "f7af72b1524f4192e7b7d7aea50ab2ba27b31ef46f4e6be4f6be5a9b0a2bbf21",  # noqa
         build_file = ":package.BUILD.bazel",
         mirrors = mirrors,
     )
diff --git a/tools/workspace/sdformat_internal/package.BUILD.bazel b/tools/workspace/sdformat_internal/package.BUILD.bazel
index 413d3eb84f8b..89fd0d1d6c4e 100644
--- a/tools/workspace/sdformat_internal/package.BUILD.bazel
+++ b/tools/workspace/sdformat_internal/package.BUILD.bazel
@@ -246,6 +246,7 @@ _SRCS = [
 
 _SKIP_SRCS = [
     # We don't want the "optional binary relocatability" feature.
+    "src/bazel/InstallationDirectories.cc",
     "src/InstallationDirectories.cc",
 ]
 
diff --git a/tools/workspace/sdformat_internal/repository.bzl b/tools/workspace/sdformat_internal/repository.bzl
index 71e46fcbb38c..0888e076188d 100644
--- a/tools/workspace/sdformat_internal/repository.bzl
+++ b/tools/workspace/sdformat_internal/repository.bzl
@@ -9,9 +9,9 @@ def sdformat_internal_repository(
         # drake/tools/workspace/new_release.py.  When practical, all members
         # of this cohort should be updated at the same time.
         repository = "gazebosim/sdformat",
-        commit = "sdformat15_15.0.0",
+        commit = "sdformat15_15.1.1",
         build_file = ":package.BUILD.bazel",
-        sha256 = "2b21c1efe7c4bb817a5867b80974c7e35cfdd863b4024fe94a3bcb1d6a05a813",  # noqa
+        sha256 = "9c9b517b390fe6965f76775db67f406b42948ebac433f87fadc680467d45184a",  # noqa
         patches = [
             ":patches/console.patch",
             ":patches/deprecation_unit_testing.patch",