diff --git a/.github/workflows/build-test.yml b/.github/workflows/build-test.yml
index da2ac828f8..406e33d707 100644
--- a/.github/workflows/build-test.yml
+++ b/.github/workflows/build-test.yml
@@ -125,12 +125,12 @@ jobs:
           wget https://apache.jfrog.io/artifactory/arrow/$(lsb_release --id --short | tr 'A-Z' 'a-z')/apache-arrow-apt-source-latest-$(lsb_release --codename --short).deb
           sudo apt install -y -V ./apache-arrow-apt-source-latest-$(lsb_release --codename --short).deb
           sudo apt update
-          sudo apt install -y libarrow-dev=14.0.1-1 \
-                              libarrow-dataset-dev=14.0.1-1 \
-                              libarrow-acero-dev=14.0.1-1 \
-                              libarrow-flight-dev=14.0.1-1 \
-                              libgandiva-dev=14.0.1-1 \
-                              libparquet-dev=14.0.1-1
+          sudo apt install -y libarrow-dev \
+                              libarrow-dataset-dev \
+                              libarrow-acero-dev \
+                              libarrow-flight-dev \
+                              libgandiva-dev \
+                              libparquet-dev
 
           # install deps for java
           sudo apt install -y default-jdk-headless maven
diff --git a/modules/io/io/io_factory.cc b/modules/io/io/io_factory.cc
index e48e682080..c5bc2fe903 100644
--- a/modules/io/io/io_factory.cc
+++ b/modules/io/io/io_factory.cc
@@ -29,6 +29,7 @@ limitations under the License.
 
 #include "arrow/api.h"
 #include "arrow/io/api.h"
+#include "arrow/util/config.h"
 #include "arrow/util/uri.h"
 #include "boost/algorithm/string.hpp"
 
@@ -72,9 +73,14 @@ std::unique_ptr<IIOAdaptor> IOFactory::CreateIOAdaptor(
   }
   // If there are non-ascii characters, we shall pre-encode the location,
   // as the arrow::internal::Uri will fail.
+#if defined(ARROW_VERSION) && ARROW_VERSION >= 16000000
+  auto encoded_location = location_to_parse.substr(0, i) +
+                          arrow::util::UriEscape(location_to_parse.substr(i));
+#else
   auto encoded_location =
       location_to_parse.substr(0, i) +
       arrow::internal::UriEscape(location_to_parse.substr(i));
+#endif
   arrow::internal::Uri uri;
   {
     auto s = uri.Parse(encoded_location);
@@ -100,8 +106,13 @@ std::unique_ptr<IIOAdaptor> IOFactory::CreateIOAdaptor(
       // Note we should not encode the leading '/' if there is one,
       // cause arrow::internal::Uri requires the path must be an absolute path.
       location_to_parse = std::string(resolved_path);
+#if defined(ARROW_VERSION) && ARROW_VERSION >= 16000000
+      auto s = uri.Parse("file:///" +
+                         arrow::util::UriEscape(location_to_parse.substr(1)));
+#else
       auto s = uri.Parse(
           "file:///" + arrow::internal::UriEscape(location_to_parse.substr(1)));
+#endif
       if (!s.ok()) {
         LOG(ERROR) << "Failed to detect the scheme of given location "
                    << location;
diff --git a/modules/io/io/local_io_adaptor.cc b/modules/io/io/local_io_adaptor.cc
index d63583dd91..09334fa51b 100644
--- a/modules/io/io/local_io_adaptor.cc
+++ b/modules/io/io/local_io_adaptor.cc
@@ -29,6 +29,7 @@ limitations under the License.
 #include "arrow/csv/api.h"
 #include "arrow/filesystem/api.h"
 #include "arrow/io/api.h"
+#include "arrow/util/config.h"
 #include "arrow/util/uri.h"
 #include "boost/algorithm/string.hpp"
 
@@ -103,8 +104,13 @@ LocalIOAdaptor::LocalIOAdaptor(const std::string& location)
       break;
     }
   }
+#if defined(ARROW_VERSION) && ARROW_VERSION >= 16000000
+  auto encoded_location =
+      location_.substr(0, i) + arrow::util::UriEscape(location_.substr(i));
+#else
   auto encoded_location =
       location_.substr(0, i) + arrow::internal::UriEscape(location_.substr(i));
+#endif
   fs_ = arrow::fs::FileSystemFromUriOrPath(encoded_location, &location_)
             .ValueOrDie();
 #if defined(ARROW_VERSION) && ARROW_VERSION >= 3000000