diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 54809ab..0ee57cd 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -11,6 +11,10 @@ jobs:
       fail-fast: false
       matrix:
         os: [ ubuntu-latest, macos-latest, windows-latest ]
+        webotsVersion: [ R2023b, R2024a ]
+        include:
+          - webotsVersion: R2024a
+            webotsTag: nightly_26_7_2024
     runs-on: ${{ matrix.os }}
 
     steps:
@@ -21,7 +25,8 @@ jobs:
       id: setupWebots
       uses: ./
       with:
-        webotsVersion: R2023b
+        webotsVersion: ${{ matrix.webotsVersion }}
+        webotsTag: ${{ matrix.webotsTag || '' }}
 
     - name: Run Webots
       run: $RUN_WEBOTS --sysinfo
diff --git a/README.md b/README.md
index 2198214..ec836b0 100644
--- a/README.md
+++ b/README.md
@@ -14,6 +14,21 @@ This GitHub action can be used in a [GitHub workflow](https://docs.github.com/en
       shell: bash
 ```
 
+Alternatively, the `webotsTag` option can be used to install a specific tag from the Webots repository (such as a nightly build).
+
+``` YAML
+    - name: Setup Webots
+      id: setupWebots
+      uses: DeepBlueRobotics/setup-webots@main
+      with:
+        webotsVersion: R2024a # Set this to your Webots version
+        webotsTag: nightly_26_7_2024
+
+    - name: Run Webots
+      run: $RUN_WEBOTS /path/to/worlds/MyWorld.wbt
+      shell: bash
+```
+
 In a step that uses the `bash` shell, `$RUN_WEBOTS` will expand to the start of a command line that will start Webots on any of the aforementioned runners with the `--no-rendering --stdout --stderr --minimize --batch` options. Those options allow Webots to run in a headless environment and redirect the controller's output/error to stdout/stderr.
 
 Note:
diff --git a/action.yml b/action.yml
index 4bb0960..d77c834 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: ''
+
 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."
@@ -20,6 +25,9 @@ outputs:
   bin:
     description: "Full path to the Webots executable, suitable for running webots directly (albeit probably not succesfully, that's what bashCmd or $RUN_WEBOTS is for)"
     value: ${{ steps.setup.outputs.bin }}
+  tag:
+    description: "The git tag of the Webots release being used"
+    value: ${{ steps.setup.outputs.bin }}
 
 runs:
   using: 'composite'
@@ -28,6 +36,11 @@ runs:
       id: setup
       run: |
         webotsOptions="--no-rendering --stdout --stderr --minimize --batch"
+        if [ -n '${{ inputs.webotsTag }}' ]; then
+          webotsTag=${{ inputs.webotsTag }}
+        else
+          webotsTag=${{ inputs.webotsVersion }}
+        fi
         if [ '${{ runner.os }}' = 'Linux' ]; then
           webotsCachePath="$HOME/cache/webots"
           webotsHome="$HOME/webots"
@@ -60,6 +73,7 @@ runs:
         echo "binDir=${webotsBinDir}" >> $GITHUB_OUTPUT
         echo "bin=${webotsBin}" >> $GITHUB_OUTPUT
         echo "pkgName=$pkgName" >> $GITHUB_OUTPUT
+        echo "tag=$webotsTag" >> $GITHUB_OUTPUT
         echo "RUN_WEBOTS=$webotsBashCmd" >> $GITHUB_ENV
         echo "LIBGL_ALWAYS_SOFTWARE=true" >> $GITHUB_ENV
         echo "WEBOTS_DISABLE_SAVE_SCREEN_PERSPECTIVE_ON_CLOSE=true" >> $GITHUB_ENV
@@ -69,12 +83,12 @@ runs:
       id: cache
       with:
         path: ${{ steps.setup.outputs.cachePath }}
-        key: ${{ runner.os }}-webots-${{ inputs.webotsVersion }}
+        key: ${{ runner.os }}-webots-${{ steps.setup.outputs.tag }}
         save-always: true
     - 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/${{ steps.setup.outputs.tag }}/${{ 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