diff --git a/.github/workflows/kserve_cpu_tests.yml b/.github/workflows/kserve_cpu_tests.yml
index cd9ba84b45..0f56b392a6 100644
--- a/.github/workflows/kserve_cpu_tests.yml
+++ b/.github/workflows/kserve_cpu_tests.yml
@@ -42,4 +42,4 @@ jobs:
           ref: v0.12.1
           path: kserve
       - name: Validate torchserve-kfs and Open Inference Protocol
-        run: ./kubernetes/kserve/tests/scripts/test_mnist.sh
+        run: ./kubernetes/kserve/tests/scripts/test_mnist.sh cpu
diff --git a/.github/workflows/kserve_gpu_tests.yml b/.github/workflows/kserve_gpu_tests.yml
new file mode 100644
index 0000000000..d11bd938ed
--- /dev/null
+++ b/.github/workflows/kserve_gpu_tests.yml
@@ -0,0 +1,45 @@
+name: KServe GPU Nightly Tests
+
+on:
+  workflow_dispatch:
+  # runs everyday  at 5:15am
+  schedule:
+    - cron:  '15 5 * * *'
+
+jobs:
+  kserve-gpu-tests:
+    runs-on: [self-hosted, regression-test-gpu]
+    steps:
+      - name: Clean up previous run
+        run: |
+          echo "Cleaning up previous run"
+          ls -la ./
+          sudo rm -rf ./* || true
+          sudo rm -rf ./.??* || true
+          ls -la ./
+      - name: Install minikube and kubectl
+        run: |
+          curl -LO https://storage.googleapis.com/minikube/releases/latest/minikube-linux-amd64
+          sudo install minikube-linux-amd64 /usr/local/bin/minikube
+          curl -LO "https://dl.k8s.io/release/$(curl -L -s https://dl.k8s.io/release/stable.txt)/bin/linux/amd64/kubectl"
+          sudo install -o root -g root -m 0755 kubectl /usr/local/bin/kubectl
+          echo "/usr/local/bin" >> $GITHUB_PATH
+      - name: Setup Python 3.9
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.9
+          architecture: x64
+      - name: Install grpcurl
+        run: |
+          sudo curl -sSL https://github.com/fullstorydev/grpcurl/releases/download/v1.8.0/grpcurl_1.8.0_linux_x86_64.tar.gz | sudo tar -xz -C /usr/local/bin grpcurl
+          sudo chmod +x /usr/local/bin/grpcurl
+      - name: Checkout TorchServe
+        uses: actions/checkout@v3
+      - name: Checkout kserve repo
+        uses: actions/checkout@v4
+        with:
+          repository: kserve/kserve
+          ref: v0.12.1
+          path: kserve
+      - name: Validate torchserve-kfs and Open Inference Protocol
+        run: ./kubernetes/kserve/tests/scripts/test_mnist.sh gpu
diff --git a/kubernetes/kserve/tests/configs/mnist_v1_gpu.yaml b/kubernetes/kserve/tests/configs/mnist_v1_gpu.yaml
new file mode 100644
index 0000000000..364ccc2716
--- /dev/null
+++ b/kubernetes/kserve/tests/configs/mnist_v1_gpu.yaml
@@ -0,0 +1,21 @@
+apiVersion: serving.kserve.io/v1beta1
+kind: InferenceService
+metadata:
+  name: "torchserve"
+spec:
+  predictor:
+    pytorch:
+      storageUri: gs://kfserving-examples/models/torchserve/image_classifier/v1
+      image: pytorch/torchserve-kfs-nightly:latest-gpu
+      resources:
+        limits:
+          cpu: "1"
+          memory: 1Gi
+          nvidia.com/gpu: 1
+        requests:
+          cpu: "100m"
+          memory: 256Mi
+          nvidia.com/gpu: 1
+      args:
+        - --disable-token-auth
+        - --enable-model-api
diff --git a/kubernetes/kserve/tests/configs/mnist_v2_gpu.yaml b/kubernetes/kserve/tests/configs/mnist_v2_gpu.yaml
new file mode 100644
index 0000000000..00703ef833
--- /dev/null
+++ b/kubernetes/kserve/tests/configs/mnist_v2_gpu.yaml
@@ -0,0 +1,22 @@
+apiVersion: serving.kserve.io/v1beta1
+kind: InferenceService
+metadata:
+  name: "torchserve-mnist-v2"
+spec:
+  predictor:
+    pytorch:
+      protocolVersion: v2
+      storageUri: gs://kfserving-examples/models/torchserve/image_classifier/v2
+      image: pytorch/torchserve-kfs-nightly:latest-gpu
+      resources:
+        limits:
+          cpu: "1"
+          memory: 1Gi
+          nvidia.com/gpu: 1
+        requests:
+          cpu: "100m"
+          memory: 256Mi
+          nvidia.com/gpu: 1
+      args:
+      - --disable-token-auth
+      - --enable-model-api
diff --git a/kubernetes/kserve/tests/scripts/test_mnist.sh b/kubernetes/kserve/tests/scripts/test_mnist.sh
index 5d2d7de0f0..5c3532e1e5 100755
--- a/kubernetes/kserve/tests/scripts/test_mnist.sh
+++ b/kubernetes/kserve/tests/scripts/test_mnist.sh
@@ -2,6 +2,36 @@
 
 set -o errexit -o nounset -o pipefail
 
+device=$1
+
+if [ "$device" = "gpu" ]; then
+    TEST_GPU="true"
+else
+    TEST_GPU="false"
+fi
+
+function validate_gpu_memory_usage() {
+    echo "Validating GPU memory usage..."
+    memory_usage=$(nvidia-smi --query-gpu=memory.used --format=csv,noheader,nounits)
+
+    # Check if any GPU memory usage is above zero
+    memory_above_zero=false
+    while IFS= read -r usage; do
+        if [ "$usage" -gt 0 ]; then
+            memory_above_zero=true
+            break
+        fi
+    done <<< "$memory_usage"
+
+    if [ "$memory_above_zero" = true ]; then
+        echo "GPU memory usage is greater than 0, proceeding with the tests."
+    else
+        echo "✘ GPU memory usage is 0, indicating no GPU activity. Test failed."
+        delete_minikube_cluster
+        exit 1
+    fi
+}
+
 function start_minikube_cluster() {
     echo "Removing any previous Kubernetes cluster"
     minikube delete
@@ -172,17 +202,31 @@ start_minikube_cluster
 install_kserve
 
 echo "MNIST KServe V2 test begin"
-deploy_cluster "kubernetes/kserve/tests/configs/mnist_v2_cpu.yaml" "torchserve-mnist-v2-predictor"
+if [ "$TEST_GPU" = "true" ]; then
+    deploy_cluster "kubernetes/kserve/tests/configs/mnist_v2_gpu.yaml" "torchserve-mnist-v2-predictor"
+    validate_gpu_memory_usage
+else
+    deploy_cluster "kubernetes/kserve/tests/configs/mnist_v2_cpu.yaml" "torchserve-mnist-v2-predictor"
+fi
 URL="http://${INGRESS_HOST}:${INGRESS_PORT}/v2/models/${MODEL_NAME}/infer"
 make_cluster_accessible "torchserve-mnist-v2" ${URL} "./kubernetes/kserve/kf_request_json/v2/mnist/mnist_v2_tensor.json" '{"model_name":"mnist","model_version":"1.0","id":"d3b15cad-50a2-4eaf-80ce-8b0a428bd298","parameters":null,"outputs":[{"name":"input-0","shape":[1],"datatype":"INT64","parameters":null,"data":[1]}]}'
 kubectl delete inferenceservice torchserve-mnist-v2
 
 echo "MNIST KServe V1 test begin"
-deploy_cluster "kubernetes/kserve/tests/configs/mnist_v1_cpu.yaml" "torchserve-predictor"
+if [ "$TEST_GPU" = "true" ]; then
+    deploy_cluster "kubernetes/kserve/tests/configs/mnist_v1_gpu.yaml" "torchserve-predictor"
+else
+    deploy_cluster "kubernetes/kserve/tests/configs/mnist_v1_cpu.yaml" "torchserve-predictor"
+fi
 URL="http://${INGRESS_HOST}:${INGRESS_PORT}/v1/models/${MODEL_NAME}:predict"
 make_cluster_accessible "torchserve" ${URL} "./kubernetes/kserve/kf_request_json/v1/mnist.json" '{"predictions":[2]}'
 kubectl delete inferenceservice torchserve
 
+if [ "$TEST_GPU" = "true" ]; then
+    delete_minikube_cluster
+    exit 0
+fi
+
 # OIP HTTP method calls
 echo "MNIST Torchserve Open Inference Protocol HTTP"
 SERVICE_NAME="torchserve-mnist-v2-http"