diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
index c6aa5ee42c..994d1bfe89 100644
--- a/.docker/ci/Dockerfile
+++ b/.docker/ci/Dockerfile
@@ -6,6 +6,8 @@ FROM ros:${ROS_DISTRO}-ros-base
 LABEL maintainer Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
 ENV TERM xterm
+# Allow non-interactive installation of ros-humble-rmw-connextdds
+ENV RTI_NC_LICENSE_ACCEPTED yes
 
 # Setup (temporary) ROS workspace
 WORKDIR /root/ws_moveit
diff --git a/.docker/release/Dockerfile b/.docker/release/Dockerfile
index 8a1b6992c4..f95c3cc86a 100644
--- a/.docker/release/Dockerfile
+++ b/.docker/release/Dockerfile
@@ -5,6 +5,9 @@ ARG ROS_DISTRO=rolling
 FROM ros:${ROS_DISTRO}-ros-base
 LABEL maintainer Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
+# Allow non-interactive installation of ros-humble-rmw-connextdds
+ENV RTI_NC_LICENSE_ACCEPTED yes
+
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 RUN apt-get update -q && \
     apt-get upgrade -q -y && \