diff --git a/.changelog/14573.txt b/.changelog/14573.txt
new file mode 100644
index 000000000..3dac5b565
--- /dev/null
+++ b/.changelog/14573.txt
@@ -0,0 +1,3 @@
+```release-note: improvement
+connect: Bump latest Envoy to 1.23.1 in test matrix
+```
diff --git a/.circleci/config.yml b/.circleci/config.yml
index 053d50d25..f246c3c29 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -27,7 +27,7 @@ references:
     - &default_envoy_version "1.20.6"
     - "1.21.4"
     - "1.22.2"
-    - "1.23.0"
+    - "1.23.1"
   nomad-versions: &supported_nomad_versions
     - &default_nomad_version "1.3.3"
     - "1.2.10"
diff --git a/agent/xds/envoy_versioning_test.go b/agent/xds/envoy_versioning_test.go
index 4e446de1e..b0e9c0dba 100644
--- a/agent/xds/envoy_versioning_test.go
+++ b/agent/xds/envoy_versioning_test.go
@@ -138,7 +138,7 @@ func TestDetermineSupportedProxyFeaturesFromString(t *testing.T) {
 		"1.20.0", "1.20.1", "1.20.2", "1.20.3", "1.20.4", "1.20.5", "1.20.6",
 		"1.21.0", "1.21.1", "1.21.2", "1.21.3", "1.21.4",
 		"1.22.0", "1.22.1", "1.22.2",
-		"1.23.0",
+		"1.23.0", "1.23.1",
 	} {
 		cases[v] = testcase{expect: supportedProxyFeatures{}}
 	}
diff --git a/agent/xds/proxysupport/proxysupport.go b/agent/xds/proxysupport/proxysupport.go
index bdb7cc864..80befe05c 100644
--- a/agent/xds/proxysupport/proxysupport.go
+++ b/agent/xds/proxysupport/proxysupport.go
@@ -7,7 +7,7 @@ package proxysupport
 //
 // see: https://www.consul.io/docs/connect/proxies/envoy#supported-versions
 var EnvoyVersions = []string{
-	"1.23.0",
+	"1.23.1",
 	"1.22.2",
 	"1.21.4",
 	"1.20.6",
diff --git a/test/integration/connect/envoy/run-tests.sh b/test/integration/connect/envoy/run-tests.sh
index 1de8ed3e5..1aa9cd79e 100755
--- a/test/integration/connect/envoy/run-tests.sh
+++ b/test/integration/connect/envoy/run-tests.sh
@@ -12,7 +12,7 @@ DEBUG=${DEBUG:-}
 XDS_TARGET=${XDS_TARGET:-server}
 
 # ENVOY_VERSION to run each test against
-ENVOY_VERSION=${ENVOY_VERSION:-"1.23.0"}
+ENVOY_VERSION=${ENVOY_VERSION:-"1.23.1"}
 export ENVOY_VERSION
 
 export DOCKER_BUILDKIT=1
diff --git a/website/content/commands/connect/envoy.mdx b/website/content/commands/connect/envoy.mdx
index 66e244563..83db635c3 100644
--- a/website/content/commands/connect/envoy.mdx
+++ b/website/content/commands/connect/envoy.mdx
@@ -55,7 +55,7 @@ Usage: `consul connect envoy [options] [-- pass-through options]`
   allowed to access by [Connect intentions](/docs/connect/intentions).
 
 - `-envoy-version` - The version of envoy that is being started. Default is
-  `1.19.1`. This is required so that the correct configuration can be generated.
+  `1.23.1`. This is required so that the correct configuration can be generated.
 
 - `-no-central-config` - By default the proxy's bootstrap configuration can be
   customized centrally. This requires that the command run on the same agent
diff --git a/website/content/docs/connect/proxies/envoy.mdx b/website/content/docs/connect/proxies/envoy.mdx
index d6222e898..04dfe8a97 100644
--- a/website/content/docs/connect/proxies/envoy.mdx
+++ b/website/content/docs/connect/proxies/envoy.mdx
@@ -36,7 +36,7 @@ Consul supports **four major Envoy releases** at the beginning of each major Con
 
 | Consul Version      | Compatible Envoy Versions                                                          |
 | ------------------- | -----------------------------------------------------------------------------------|
-| 1.13.x              | 1.23.0, 1.22.2, 1.21.4, 1.20.6                                                     |
+| 1.13.x              | 1.23.1, 1.22.2, 1.21.4, 1.20.6                                                     |
 | 1.12.x              | 1.22.2, 1.21.4, 1.20.6, 1.19.5                                                     |
 | 1.11.x              | 1.20.6, 1.19.5, 1.18.6, 1.17.4<sup>1</sup>                                         |