diff --git a/sdks/python/setup.py b/sdks/python/setup.py
index 261d079f1462..1e89f2586ca7 100644
--- a/sdks/python/setup.py
+++ b/sdks/python/setup.py
@@ -145,7 +145,7 @@ def cythonize(*args, **kwargs):
   pyarrow_dependency = ['']
 else:
   pyarrow_dependency = [
-      'pyarrow>=3.0.0,<19.0.0',
+      'pyarrow>=6.0.1,<23.0.0',
       # NOTE(https://github.com/apache/beam/issues/29392): We can remove this
       # once Beam increases the pyarrow lower bound to a version that fixes CVE.
       # (lower bound >= 14.0.1)
diff --git a/sdks/python/tox.ini b/sdks/python/tox.ini
index afb9b6520fb6..39171a11f3e2 100644
--- a/sdks/python/tox.ini
+++ b/sdks/python/tox.ini
@@ -343,26 +343,19 @@ extras = test
 commands =
   bash {toxinidir}/scripts/pytest_validates_runner.sh {envname} {toxinidir}/apache_beam/runners/portability/prism_runner_test.py {posargs}
 
-[testenv:py{310,311}-pyarrow-{3,9,10,11,12,13,14,15,16,17,18}]
+[testenv:py{310,311}-pyarrow-{6,15,16,17,18,19,20,21,22}]
 deps =
   # As a courtesy to users, test against the oldest allowed version of Pyarrow.
-  # We'd have to increase the pyarrow lower bound when Python 3.9 is deprecated.
-  # Since Pandas 2 requires pyarrow>=7, downgrade pandas for this test.
-  3: pyarrow>=3,<4
-  3: pandas<2
-  3: numpy>=1.14.3,<1.27.0
+  6: pyarrow>=6,<7
   # Test against versions of pyarrow released in last ~2 years.
-  9: pyarrow>=9,<10
-  9: pandas==2.1.4
-  10: pyarrow>=10,<11
-  11: pyarrow>=11,<12
-  12: pyarrow>=12,<13
-  13: pyarrow>=13,<14
-  14: pyarrow>=14,<15
   15: pyarrow>=15,<16
   16: pyarrow>=16,<17
   17: pyarrow>=17,<18
   18: pyarrow>=18,<19
+  19: pyarrow>=19,<20
+  20: pyarrow>=20,<21
+  21: pyarrow>=21,<22
+  22: pyarrow>=22,<23
   numpy==1.26.4
 commands =
   # Log pyarrow and numpy version for debugging