diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 54809ab..a83851f 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -6,7 +6,7 @@ on:
     branches: [ main ]
 
 jobs:
-  test:
+  testStableWebots:
     strategy:
       fail-fast: false
       matrix:
@@ -37,6 +37,38 @@ jobs:
         echo "steps.setupWebots.outputs.cachePath: ${{ steps.setupWebots.outputs.cachePath }}"
       shell: bash
 
+  testNightlyWebots:
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ ubuntu-latest, macos-latest, windows-latest ]
+    runs-on: ${{ matrix.os }}
+
+    steps:
+    - name: Checkout source
+      uses: actions/checkout@v3
+
+    - name: Setup Webots
+      id: setupWebots
+      uses: ./
+      with:
+        webotsVersion: R2024a
+        webotsTag: nightly_26_7_2024
+
+    - name: Run Webots
+      run: $RUN_WEBOTS --sysinfo
+      shell: bash
+
+    - name: Display outputs
+      run: |
+        echo "RUN_WEBOTS: $RUN_WEBOTS"
+        echo "steps.setupWebots.outputs.bashCmd: ${{ steps.setupWebots.outputs.bashCmd }}"
+        echo "steps.setupWebots.outputs.home: ${{ steps.setupWebots.outputs.home }}"
+        echo "steps.setupWebots.outputs.binDir: ${{ steps.setupWebots.outputs.binDir }}"
+        echo "steps.setupWebots.outputs.bin: ${{ steps.setupWebots.outputs.bin }}"
+        echo "steps.setupWebots.outputs.cachePath: ${{ steps.setupWebots.outputs.cachePath }}"
+      shell: bash
+
   release:
     # Only release from the main branch
     if: github.ref == 'refs/heads/main'
diff --git a/action.yml b/action.yml
index ecb4bea..f16d79d 100644
--- a/action.yml
+++ b/action.yml
@@ -4,6 +4,11 @@ inputs:
   webotsVersion:
     description: "Version of Webots to install."
     required: true
+  webotsTag:
+    description: "Optionally specify a specific tag from the Webots repository to install. (Defaults to webotsVersion)"
+    required: false
+    default: ${{ inputs.webotsVersion }}
+
 outputs:
   bashCmd:
     description: "Start of a command line in bash which will run webots on all runners with options suitable for headless execution. This is also put in the RUN_WEBOTS environment variable."
@@ -69,11 +74,11 @@ runs:
       id: cache
       with:
         path: ${{ steps.setup.outputs.cachePath }}
-        key: ${{ runner.os }}-webots-${{ inputs.webotsVersion }}
+        key: ${{ runner.os }}-webots-${{ inputs.webotsTag }}
     - name: 'Download Webots'
       if: steps.cache.outputs.cache-hit != 'true'
       run: |
-        curl -L -o "${{ steps.setup.outputs.cachePath }}/${{ steps.setup.outputs.pkgName }}" --create-dirs "https://github.com/cyberbotics/webots/releases/download/${{ inputs.webotsVersion }}/${{ steps.setup.outputs.pkgName }}"
+        curl -L -o "${{ steps.setup.outputs.cachePath }}/${{ steps.setup.outputs.pkgName }}" --create-dirs "https://github.com/cyberbotics/webots/releases/download/${{ inputs.webotsTag }}/${{ steps.setup.outputs.pkgName }}"
         if [ '${{ runner.os }}' = 'Windows' ]; then
           curl -L -o "${{ steps.setup.outputs.cachePath }}/Mesa.7z" --create-dirs https://downloads.fdossena.com/geth.php?r=mesa64-latest
         fi
@@ -83,7 +88,7 @@ runs:
       if: steps.cache.outputs.cache-hit != 'true'
       with:
         path: ${{ steps.setup.outputs.cachePath }}
-        key: ${{ runner.os }}-webots-${{ inputs.webotsVersion }}
+        key: ${{ runner.os }}-webots-${{ inputs.webotsTag }}
     - name: Install Webots
       run: |
         cachedWebotsBin="${{ steps.setup.outputs.cachePath }}/${{ steps.setup.outputs.pkgName }}"