diff --git a/ci/jenkins/install-kubectl.sh b/ci/jenkins/install-kubectl.sh
new file mode 100755
index 00000000000..edc380c9597
--- /dev/null
+++ b/ci/jenkins/install-kubectl.sh
@@ -0,0 +1,69 @@
+#!/usr/bin/env bash
+
+# Copyright 2024 Antrea Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -eo pipefail
+
+expected_kubectl_version=""
+if [[ -n $1 ]];then
+    expected_kubectl_version=$1
+elif ! which kubectl > /dev/null; then
+    expected_kubectl_version=$(head -n1 ./k8s-version)
+else
+    # Check both Client and Server versions. If the Server version is not found, make sure the
+    # version of kubectl matches the version in the file k8s-version. If Client and Server versions
+    # are not matched, reinstall kubectl to the same version as K8s server.
+    installed_kubectl_version=$(kubectl version | grep "Client Version" | awk '{print $3}')
+    cmd_return_code=0
+    k8s_server_version=$(kubectl version | grep "Server Version" | awk '{print $3}') || cmd_return_code=$?
+    if [[ $cmd_return_code -ne 0 ]]; then
+      expected_kubectl_version=$(head -n1 ./k8s-version)
+      if [[ "$installed_kubectl_version" == "$expected_kubectl_version" ]]; then
+        echo "=== Existing kubectl version $installed_kubectl_version is up to date ==="
+        exit 0
+      fi
+    elif [[ "$installed_kubectl_version" != "$k8s_server_version" ]]; then
+      expected_kubectl_version=$k8s_server_version
+    else
+      echo "=== Existing kubectl version $installed_kubectl_version is up to date ==="
+      exit 0
+    fi
+fi
+
+# Linux only
+function install_kubectl {
+    arch_name="$(uname -m)"
+    arch=""
+    case "$arch_name" in
+     "x86_64")
+      arch="amd64"
+      ;;
+      "aarch64")
+      arch="arm64"
+      ;;
+      *)
+      echoerr "Unsupported platform $arch_name"
+      exit 1
+      ;;
+    esac
+
+    curl -LO "https://dl.k8s.io/release/$expected_kubectl_version/bin/linux/$arch/kubectl"
+    chmod +x ./kubectl
+    sudo mv kubectl /usr/local/bin
+}
+
+echo "=== Install kubectl to the expected version $expected_kubectl_version ==="
+install_kubectl
+exit 0
diff --git a/ci/jenkins/k8s-version b/ci/jenkins/k8s-version
new file mode 100644
index 00000000000..9b277b94aca
--- /dev/null
+++ b/ci/jenkins/k8s-version
@@ -0,0 +1 @@
+v1.29.0
diff --git a/ci/jenkins/test-mc.sh b/ci/jenkins/test-mc.sh
index 83283ae8394..41d3e94b847 100755
--- a/ci/jenkins/test-mc.sh
+++ b/ci/jenkins/test-mc.sh
@@ -418,7 +418,7 @@ function run_multicluster_e2e {
         done
     else
         for kubeconfig in "${membercluster_kubeconfigs[@]}"; do
-            kubectl get nodes -o wide --no-headers=true "${kubeconfig}"| awk '{print $6}' | while read IP; do
+            kubectl get nodes -o wide --no-headers=true "${kubeconfig}" | awk '{print $6}' | while read IP; do
                 rsync -avr --progress --inplace -e "ssh -o StrictHostKeyChecking=no" "${WORKDIR}"/nginx.tar jenkins@["${IP}"]:"${WORKDIR}"/nginx.tar
                 rsync -avr --progress --inplace -e "ssh -o StrictHostKeyChecking=no" "${WORKDIR}"/agnhost.tar jenkins@["${IP}"]:"${WORKDIR}"/agnhost.tar
             if ${IS_CONTAINERD};then
@@ -493,6 +493,11 @@ if [[ ${KIND} == "true" ]]; then
     done
 fi
 
+# All clusters in one testing ClusterSet should be the same K8s version, so
+# set KUBECONFIG with the leader config file to check and install kubectl.
+export KUBECONFIG=${LEADER_CLUSTER_CONFIG}
+bash $(dirname "$0")/install-kubectl.sh
+
 # We assume all clusters in one testing ClusterSet are using the same runtime,
 # so check leader cluster only to set IS_CONTAINERD.
 set +e
diff --git a/ci/jenkins/test-rancher.sh b/ci/jenkins/test-rancher.sh
index d0148faecec..cc088eb6c7b 100644
--- a/ci/jenkins/test-rancher.sh
+++ b/ci/jenkins/test-rancher.sh
@@ -128,6 +128,9 @@ function deliver_antrea {
     fetch_kubeconfig $KUBECONFIG_PATH
     export KUBECONFIG=$KUBECONFIG_PATH
 
+    echo "======  Check and install kubectl with a specific version ======"
+    bash $(dirname "$0")/install-kubectl.sh
+
     echo "====== Building Antrea for the Following Commit ======"
     export GO111MODULE=on
     export GOPATH=${WORKDIR}/go
diff --git a/ci/jenkins/test-vm.sh b/ci/jenkins/test-vm.sh
index 556999e9200..0efac9653ba 100755
--- a/ci/jenkins/test-vm.sh
+++ b/ci/jenkins/test-vm.sh
@@ -53,9 +53,6 @@ declare -a WIN_HOSTNAMES=("vmbmtest0-win-0")
 declare -A LINUX_HOSTS_TO_USERNAME=(["vmbmtest0-1"]="ubuntu" ["vmbmtest0-redhat-0"]="root")
 declare -A WINDOWS_HOSTS_TO_USERNAME=(["vmbmtest0-win-0"]="Administrator")
 
-# To run kubectl cmds
-export KUBECONFIG=${KUBECONFIG_PATH}
-
 function print_usage {
     echoerr "$_usage"
 }
@@ -96,6 +93,11 @@ if [[ "$WORKDIR" != "$DEFAULT_WORKDIR" && "$KUBECONFIG_PATH" == "$DEFAULT_KUBECO
     KUBECONFIG_PATH=${WORKDIR}/.kube/config
 fi
 
+# To run kubectl cmds.
+export KUBECONFIG=${KUBECONFIG_PATH}
+# Check and install kubectl with a specific version.
+bash $(dirname "$0")/install-kubectl.sh
+
 function export_govc_env_var {
     # This should be coming from jenkins configuration
     export GOVC_URL=$GOVC_URL
diff --git a/ci/jenkins/test-vmc.sh b/ci/jenkins/test-vmc.sh
index e736360faee..d193bd6765b 100755
--- a/ci/jenkins/test-vmc.sh
+++ b/ci/jenkins/test-vmc.sh
@@ -147,6 +147,10 @@ if [[ "$WORKDIR" != "$DEFAULT_WORKDIR" && "$KUBECONFIG_PATH" == "$DEFAULT_KUBECO
     KUBECONFIG_PATH=$WORKDIR/.kube/config
 fi
 
+# Check and install kubectl to a specific version.
+export KUBECONFIG=$KUBECONFIG_PATH
+bash $(dirname "$0")/install-kubectl.sh
+
 # If DOCKER_REGISTRY is non null, we ensure that "make" commands never pull from docker.io.
 NO_PULL=
 if [[ ${DOCKER_REGISTRY} != "" ]]; then
@@ -189,7 +193,7 @@ function release_static_ip() {
 function setup_cluster() {
     export KUBECONFIG=$KUBECONFIG_PATH
     if [ -z $K8S_VERSION ]; then
-      export K8S_VERSION=v1.28.0
+      export K8S_VERSION=$(head -n1 ./k8s-version)
     fi
     if [ -z $TEST_OS ]; then
       export TEST_OS=ubuntu-2004
diff --git a/ci/jenkins/test.sh b/ci/jenkins/test.sh
index 1456db960fc..b436dbf887d 100755
--- a/ci/jenkins/test.sh
+++ b/ci/jenkins/test.sh
@@ -1172,7 +1172,10 @@ EOF
     done
 }
 
-export KUBECONFIG=${KUBECONFIG_PATH}
+# Check and install kubectl to a specific version.
+export KUBECONFIG=$KUBECONFIG_PATH
+bash $(dirname "$0")/install-kubectl.sh
+
 if [[ $TESTBED_TYPE == "flexible-ipam" ]]; then
     ./hack/generate-manifest.sh --flexible-ipam --multicast --verbose-log > build/yamls/antrea.yml
 fi