diff --git a/.github/workflows/Docekr.yaml b/.github/workflows/Docekr.yaml
new file mode 100644
index 00000000000..e43d6efe20d
--- /dev/null
+++ b/.github/workflows/Docekr.yaml
@@ -0,0 +1,70 @@
+name: Docker
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    tags:
+
+jobs:
+  push_docker:
+    name: Push Docker Image
+    runs-on: ubuntu-22.04
+    timeout-minutes: 720
+    strategy:
+      matrix:
+        rosdistro: [humble]
+        arch: [amd64]
+        # Build test for arm64 CPU is broken.
+        # This is a temporary solution and will be repaired in the future.
+        # See also https://github.com/tier4/scenario_simulator_v2/pull/1295
+        # arch: [amd64, arm64]
+    steps:
+      - name: Free Disk Space (Ubuntu)
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+
+      - name: Install docker for ubuntu runner
+        uses: docker/setup-buildx-action@v3
+
+      - name: Install QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - uses: actions/checkout@v3
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build (${{ matrix.arch }})
+        if: github.event_name == 'pull_request'
+        uses: docker/bake-action@v3
+        with:
+          files: |
+            ./docker-bake.hcl
+          workdir: .
+          set: |
+            *.cache-to=type=gha,mode=max
+            *.cache-from=type=gha
+          push: false
+          targets: |
+            ${{ matrix.rosdistro }}_base_${{ matrix.arch }}
+
+      - name: Build and push (${{ matrix.arch }})
+        if: github.event_name != 'pull_request'
+        uses: docker/bake-action@v3
+        with:
+          files: |
+            ./docker-bake.hcl
+          workdir: .
+          set: |
+            *.cache-to=type=gha,mode=max
+            *.cache-from=type=gha
+            *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.ref_name }}
+          push: true
+          targets: |
+            ${{ matrix.rosdistro }}_base_${{ matrix.arch }}
diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml
index fbbc78ff620..39b5508f735 100644
--- a/.github/workflows/Release.yaml
+++ b/.github/workflows/Release.yaml
@@ -142,50 +142,3 @@ jobs:
               repo: context.repo.repo,
               ref: `heads/${context.payload.pull_request.head.ref}`,
             })
-  push_docker:
-    needs: release
-    name: Push Docker Image
-    runs-on: ubuntu-22.04
-    timeout-minutes: 720
-    strategy:
-      matrix:
-        rosdistro: [humble]
-        arch: [amd64]
-        # Build test for arm64 CPU is broken.
-        # This is a temporary solution and will be repaired in the future.
-        # See also https://github.com/tier4/scenario_simulator_v2/pull/1295
-        # arch: [amd64, arm64]
-    steps:
-      - name: Free Disk Space (Ubuntu)
-        uses: jlumbroso/free-disk-space@main
-        with:
-          tool-cache: false
-
-      - name: Install docker for ubuntu runner
-        uses: docker/setup-buildx-action@v3
-
-      - name: Install QEMU
-        uses: docker/setup-qemu-action@v3
-
-      - uses: actions/checkout@v3
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v2
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Build and push (${{ matrix.arch }})
-        uses: docker/bake-action@v3
-        with:
-          files: |
-            ./docker-bake.hcl
-          workdir: .
-          set: |
-            *.cache-to=type=gha,mode=max
-            *.cache-from=type=gha
-            *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ needs.release.outputs.new_version }}
-          push: ${{ github.event.pull_request.merged == true }}
-          targets: |
-            ${{ matrix.rosdistro }}_base_${{ matrix.arch }}