diff --git a/.github/actions/docker-build/action.yaml b/.github/actions/docker-build/action.yaml
index 84523983a0a..147a1a75cf5 100644
--- a/.github/actions/docker-build/action.yaml
+++ b/.github/actions/docker-build/action.yaml
@@ -35,7 +35,8 @@ runs:
       shell: bash
 
     - name: Cache
-      uses: actions/cache@v3
+      uses: actions/cache@v4
+      if: ${{ inputs.name == 'no-cuda' }}
       id: cache
       with:
         path: |
@@ -45,8 +46,19 @@ runs:
           cache-${{ inputs.platform }}-${{ inputs.name }}-
           cache-${{ inputs.platform }}-
 
+    - name: Restore cache
+      uses: actions/cache/restore@v4
+      if: ${{ inputs.name != 'no-cuda' }}
+      with:
+        path: |
+          root-ccache
+        key: cache-${{ matrix.platform }}-${{ matrix.name }}-${{ hashFiles('autoware.repos') }}
+        restore-keys: |
+          cache-${{ matrix.platform }}-${{ matrix.name }}-
+          cache-${{ matrix.platform }}-
+
     - name: Inject cache into docker
-      uses: reproducible-containers/buildkit-cache-dance@v3.1.0
+      uses: reproducible-containers/buildkit-cache-dance@v3.1.2
       with:
         cache-map: |
           {