diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6df324de..bc313013 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -21,7 +21,7 @@ jobs:
             - name: "Set up Python"
               uses: actions/setup-python@v4
               with:
-                  python-version: "3.8"
+                  python-version: "3.9"
 
             - name: "Install dependencies"
               run: |
@@ -50,7 +50,7 @@ jobs:
             - name: "Set up Python"
               uses: actions/setup-python@v4
               with:
-                  python-version: "3.8"
+                  python-version: "3.9"
 
             - name: "Install dependencies"
               run: |
@@ -71,7 +71,7 @@ jobs:
                 os: [ubuntu-latest]
                 # Blocker: https://github.com/stack-of-tasks/pinocchio/issues/2231
                 # os: [ubuntu-latest, macos-latest]
-                python-version: ["3.8", "3.9", "3.10"]
+                python-version: ["3.9", "3.10", "3.11", "3.12"]
 
         steps:
             - name: "Checkout sources"
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 59017d8c..748ae1cc 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Unreleased
 
+### Changed
+
+- Update supported Python versions to 3.9–3.12
+
 ## [3.1.0] - 2024-10-28
 
 ### Added
diff --git a/pyproject.toml b/pyproject.toml
index 8e555de2..21bc99d1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,16 +12,17 @@ maintainers = [
     {name = "Stéphane Caron", email = "stephane.caron@normalesup.org"},
 ]
 dynamic = ['version', 'description']
-requires-python = ">=3.8"
+requires-python = ">=3.9"
 classifiers = [
     "Development Status :: 5 - Production/Stable",
     "Framework :: Robot Framework :: Library",
     "Intended Audience :: Developers",
     "Intended Audience :: Science/Research",
     "License :: OSI Approved :: Apache Software License",
-    "Programming Language :: Python :: 3.8",
     "Programming Language :: Python :: 3.9",
     "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
     "Topic :: Scientific/Engineering",
 ]
 dependencies = [
diff --git a/tox.ini b/tox.ini
index 5419d8e3..8338cb2e 100644
--- a/tox.ini
+++ b/tox.ini
@@ -1,12 +1,13 @@
 [tox]
 isolated_build = True
-envlist = py{38, 39, 310}
+envlist = py{39,310,311,312}
 
 [gh-actions]
 python =
-    3.8: py38
     3.9: py39
     3.10: py310
+    3.11: py311
+    3.12: py312
 
 [testenv]
 deps =