diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index ed226bc..75cbf5f 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -81,7 +81,7 @@ jobs:
         cmake --build . --config ${{ matrix.build_type }} --target install
         # yarp
         cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/robotology/yarp.git --depth 1 --branch yarp-3.4
+        git clone https://github.com/robotology/yarp.git --depth 1 --branch yarp-3.6
         cd yarp && mkdir -p build && cd build
         cmake  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
         -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
@@ -106,7 +106,7 @@ jobs:
         cmake --build . --config ${{ matrix.build_type }} --target INSTALL
         # yarp
         cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/robotology/yarp.git --depth 1 --branch yarp-3.4
+        git clone https://github.com/robotology/yarp.git --depth 1 --branch yarp-3.6
         cd yarp && mkdir -p build && cd build
         cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
         cmake --build . --config ${{ matrix.build_type }} --target INSTALL