diff --git a/.github/workflows/bazelized_drake_ros.yml b/.github/workflows/bazelized_drake_ros.yml
index 574b5bcd..038aa9b6 100755
--- a/.github/workflows/bazelized_drake_ros.yml
+++ b/.github/workflows/bazelized_drake_ros.yml
@@ -48,9 +48,6 @@ jobs:
         run: |
           sudo apt install python3 python3-toposort
           sudo rm -rf /var/lib/apt/lists/*
-      - name: Use GCC 11, until GCC 13 works with drake's clang
-        run: sudo apt purge gcc-13 libgcc-13-dev g++-13 libstdc++-13-dev gcc-12 libgcc-12-dev g++-12 libstdc++-12-dev && sudo apt install gcc-11 g++-11 && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 100 --slave /usr/bin/g++ g++ /usr/bin/g++-11
-        working-directory: drake_ros
       - name: Download Drake
         run: bazel build @drake//:module_py
         working-directory: drake_ros
diff --git a/drake_ros/drake.bzl b/drake_ros/drake.bzl
index f8684c25..ed89017a 100644
--- a/drake_ros/drake.bzl
+++ b/drake_ros/drake.bzl
@@ -1,5 +1,5 @@
 DRAKE_SUGGESTED_VERSION = struct(
-    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.28.0.tar.gz",  # noqa
-    sha256 = "6ff298d7fbc33cb17963509f86fcd9cb6816d455b97b3fd589e1085e0548c2fe",  # noqa,
-    strip_prefix = "drake-1.28.0",
+    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.29.0.tar.gz",  # noqa
+    sha256 = "df9dec6e7d2c172d65152e30172a393b66706ebd3d4eff822b4d9562c1c3b9a2",  # noqa,
+    strip_prefix = "drake-1.29.0",
 )