diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 3af89b7..6e82cda 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -23,21 +23,28 @@ jobs:
         run: bundle exec rubocop
 
   test:
-    env:
-      GRAPE_ENTITY: 1.0.0
-
-    runs-on: ubuntu-latest
+    name: test (ruby=${{ matrix.ruby }}, grape=${{ matrix.grape }}, grape-swagger=${{ matrix.grape_swagger}}, grape_entity=${{ matrix.grape_entity }})
     strategy:
-      fail-fast: false
       matrix:
-        ruby-version: ['3.1', '3.2', '3.3']
+        grape: [ '~> 2.0.0', 'head' ]
+        grape_swagger: [ '~> 2.0.3', 'head' ]
+        grape_entity: [ '~> 1.0.1', 'head' ]
+        ruby: [ '3.1', '3.4', 'head' ]
+        # Exclude combinations that are not supported.
+        exclude:
+          - { grape_swagger: '~> 2.0.3', grape: 'head' }
+    runs-on: ubuntu-latest
+    env:
+      GRAPE_VERSION: ${{ matrix.grape }}
+      GRAPE_SWAGGER_VERSION: ${{ matrix.grape_swagger }}
+      GRAPE_ENTITY_VERSION: ${{ matrix.grape_entity }}
 
     steps:
     - uses: actions/checkout@v4
     - name: Set up Ruby
       uses: ruby/setup-ruby@v1
       with:
-        ruby-version: ${{ matrix.ruby-version }}
+        ruby-version: ${{ matrix.ruby }}
         bundler-cache: true
     - name: Run tests
       run: bundle exec rake spec
diff --git a/CHANGELOG.md b/CHANGELOG.md
index cb310d6..d445e6f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,6 +3,7 @@
 #### Features
 
 * Your contribution here.
+* [#76](https://github.com/ruby-grape/grape-swagger-entity/pull/76): Update ci matrix and gemfile for multi-version grape testing - [@numbata](https://github.com/numbata).
 
 #### Fixes
 
diff --git a/Gemfile b/Gemfile
index 96923db..26e7a71 100644
--- a/Gemfile
+++ b/Gemfile
@@ -5,6 +5,25 @@ source 'https://rubygems.org'
 # Specify your gem's dependencies in grape-swagger-entity.gemspec
 gemspec
 
+grape_version = ENV.fetch('GRAPE_VERSION', '< 3.0')
+grape_swagger_version = ENV.fetch('GRAPE_SWAGGER_VERSION', '< 3.0')
+grape_entity_version = ENV.fetch('GRAPE_ENTITY_VERSION', '< 2.0')
+
+grape_spec = grape_version.casecmp('HEAD').zero? ? { git: 'https://github.com/ruby-grape/grape' } : grape_version
+grape_swagger_spec = if grape_swagger_version.casecmp('HEAD').zero?
+                       { git: 'https://github.com/ruby-grape/grape-swagger.git' }
+                     else
+                       grape_swagger_version
+                     end
+grape_entity_spec = if grape_entity_version.casecmp('HEAD').zero?
+                      { git: 'https://github.com/ruby-grape/grape-entity.git' }
+                    else
+                      grape_entity_version
+                    end
+
+gem 'grape', grape_spec
+gem 'grape-swagger', grape_swagger_spec
+
 group :development, :test do
   gem 'bundler'
   gem 'pry', platforms: [:mri]
@@ -20,10 +39,8 @@ group :development, :test do
   gem 'rubocop-rspec'
 end
 
-gem 'grape-swagger', git: 'https://github.com/ruby-grape/grape-swagger.git'
-
 group :test do
-  gem 'grape-entity', ENV.fetch('GRAPE_ENTITY', '1.0.0')
+  gem 'grape-entity', grape_entity_spec
   gem 'ruby-grape-danger', '~> 0.2.1', require: false
   gem 'simplecov', require: false
 end