diff --git a/dm_control/mujoco/tutorial.ipynb b/dm_control/mujoco/tutorial.ipynb
index 4f958453..461bb22a 100644
--- a/dm_control/mujoco/tutorial.ipynb
+++ b/dm_control/mujoco/tutorial.ipynb
@@ -93,7 +93,7 @@
         "\"\"\")\n",
         "\n",
         "print('Installing dm_control...')\n",
-        "!pip install -q dm_control\u003e=1.0.22\n",
+        "!pip install -q dm_control\u003e=1.0.23\n",
         "\n",
         "# Configure dm_control to use the EGL rendering backend (requires GPU)\n",
         "%env MUJOCO_GL=egl\n",
diff --git a/requirements.txt b/requirements.txt
index 186f72f6..c4c427f1 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -6,7 +6,7 @@ h5py==3.11.0
 labmaze==1.0.6
 lxml==5.2.2
 mock==5.1.0
-mujoco==3.2.1
+mujoco==3.2.3
 nose==1.3.7
 nose-xunitmp==0.4.1
 numpy==1.24.4; python_version == '3.8'
diff --git a/setup.py b/setup.py
index 06dc45d2..176f5271 100644
--- a/setup.py
+++ b/setup.py
@@ -177,7 +177,7 @@ def is_excluded(s):
 
 setup(
     name='dm_control',
-    version='1.0.22',
+    version='1.0.23',
     description='Continuous control environments and MuJoCo Python bindings.',
     long_description="""
 # `dm_control`: DeepMind Infrastructure for Physics-Based Simulation.
diff --git a/tutorial.ipynb b/tutorial.ipynb
index 89e2ef50..d62279c7 100644
--- a/tutorial.ipynb
+++ b/tutorial.ipynb
@@ -93,7 +93,7 @@
         "\"\"\")\n",
         "\n",
         "print('Installing dm_control...')\n",
-        "!pip install -q dm_control\u003e=1.0.22\n",
+        "!pip install -q dm_control\u003e=1.0.23\n",
         "\n",
         "# Configure dm_control to use the EGL rendering backend (requires GPU)\n",
         "%env MUJOCO_GL=egl\n",