diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index ab544cc2d..309fe0b02 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -91,7 +91,7 @@ jobs:
     - name: Is regeneration of Python stubs required?
       run: |
         rosbag2_path=$(colcon list -p --packages-select rosbag2)/..
-        sudo apt update && sudo apt -y install mypy=1.9.0-4ubuntu1
+        sudo apt update && sudo apt -y install mypy=0.942-1ubuntu1
         source install/setup.sh
         stubgen -p rosbag2_py -o ${rosbag2_path}/rosbag2_py
         cd ${rosbag2_path}
diff --git a/rosbag2_py/README.md b/rosbag2_py/README.md
index f46add0d4..9c016db74 100644
--- a/rosbag2_py/README.md
+++ b/rosbag2_py/README.md
@@ -14,7 +14,7 @@ source install/setup.sh
 # Make sure rosbag2_py can be imported
 python3 -c 'import rosbag2_py'
 
-sudo apt update && sudo apt install mypy=1.9.0-4ubuntu1
+sudo apt update && sudo apt install mypy=0.942-1ubuntu1
 cd <rosbag2 git repo>
 stubgen -p rosbag2_py -o rosbag2_py
 ```