diff --git a/.circleci/config.yml b/.circleci/config.yml
index 275ad3bc7a..075a613be0 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -6,12 +6,13 @@ orbs:
 jobs:
   build_doc:
     docker:
-      - image: cimg/python:3.9
+      - image: cimg/python:3.10
     steps:
       - checkout
       - run:
           name: doc_build
           command: |
+            python --version
             python -m venv venv
             . venv/bin/activate
             pip install -r requirements/requirements.txt
diff --git a/.github/workflows/Linux_CI.yml b/.github/workflows/Linux_CI.yml
index c706a50ed6..73f8aa5c0d 100644
--- a/.github/workflows/Linux_CI.yml
+++ b/.github/workflows/Linux_CI.yml
@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ['3.9']
+        python-version: ['3.10']
 
     name: Python ${{ matrix.python-version }} CI
 
@@ -26,6 +26,7 @@ jobs:
         python-version: ${{ matrix.python-version }}
     - name: Install dependencies
       run: |
+        python --version
         python -m pip install --upgrade pip
         python -m pip install -r requirements/requirements.txt
     - name: do all unit tests
diff --git a/.github/workflows/MacOS_CI.yml b/.github/workflows/MacOS_CI.yml
index 4088c4900f..5c796120a5 100644
--- a/.github/workflows/MacOS_CI.yml
+++ b/.github/workflows/MacOS_CI.yml
@@ -16,7 +16,7 @@ jobs:
     runs-on: macos-latest
     strategy:
       matrix:
-        python-version: [ '3.9' ]
+        python-version: [ '3.10' ]
     name: Python ${{ matrix.python-version }} CI
     steps:
       - uses: actions/checkout@v2
@@ -32,8 +32,8 @@ jobs:
 
       - name: Install dependencies
         run: |
+          python --version
           python -m pip install --upgrade pip
-          #pip install numpy # cvxpy install workaround
           pip install -r requirements/requirements.txt
       - name: do all unit tests
         run: bash runtests.sh
\ No newline at end of file
diff --git a/README.md b/README.md
index 8972bae5fa..f54b880dc0 100644
--- a/README.md
+++ b/README.md
@@ -96,7 +96,7 @@ See this paper for more details:
 
 For running each sample code:
 
-- [Python 3.9.x](https://www.python.org/)
+- [Python 3.10.x](https://www.python.org/)
  
 - [NumPy](https://numpy.org/)
  
diff --git a/appveyor.yml b/appveyor.yml
index c35e76ae4a..4964bab3da 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -8,7 +8,7 @@ environment:
     CMD_IN_ENV: "cmd /E:ON /V:ON /C .\\appveyor\\run_with_env.cmd"
 
   matrix:
-     - PYTHON_DIR: C:\Python39-x64
+     - PYTHON_DIR: C:\Python310-x64
 
 branches:
   only:
diff --git a/docs/getting_started_main.rst b/docs/getting_started_main.rst
index a7b9ff3607..4a19126686 100644
--- a/docs/getting_started_main.rst
+++ b/docs/getting_started_main.rst
@@ -26,7 +26,7 @@ See this paper for more details:
 Requirements
 -------------
 
--  `Python 3.9.x`_
+-  `Python 3.10.x`_
 -  `NumPy`_
 -  `SciPy`_
 -  `Matplotlib`_
@@ -41,7 +41,7 @@ For development:
 -  sphinx (for document generation)
 -  pycodestyle (for code style check)
 
-.. _`Python 3.9.x`: https://www.python.org/
+.. _`Python 3.10.x`: https://www.python.org/
 .. _`NumPy`: https://numpy.org/
 .. _`SciPy`: https://scipy.org/
 .. _`Matplotlib`: https://matplotlib.org/
diff --git a/requirements/environment.yml b/requirements/environment.yml
index 1441b79080..109fc57789 100644
--- a/requirements/environment.yml
+++ b/requirements/environment.yml
@@ -2,7 +2,7 @@ name: python_robotics
 channels:
   - conda-forge
 dependencies:
-  - python=3.9
+  - python=3.10
   - pip
   - scipy
   - numpy