diff --git a/.github/workflows/documentation-tests.yaml b/.github/workflows/documentation-tests.yaml
index 85d935f710b..af7861fcbc2 100644
--- a/.github/workflows/documentation-tests.yaml
+++ b/.github/workflows/documentation-tests.yaml
@@ -52,6 +52,9 @@ jobs:
       - name: Install documentation packages
         uses: ./src/fastrtps/.github/actions/install-apt-packages-documentation
 
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+
       - name: Download FastDDS dependencies
         run: |
           pip3 install vcstool
diff --git a/.github/workflows/reusable-windows-ci.yml b/.github/workflows/reusable-windows-ci.yml
index d02ccf3a13a..7086b618746 100644
--- a/.github/workflows/reusable-windows-ci.yml
+++ b/.github/workflows/reusable-windows-ci.yml
@@ -51,6 +51,9 @@ jobs:
         with:
           cmakeVersion: '3.16.3'
 
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+
       - name: Patch SDK for source indexing
         run: |
           # This is a well known issue and the workarond is taken from there
diff --git a/.github/workflows/sanitizer-tests.yaml b/.github/workflows/sanitizer-tests.yaml
index 201f63c4ac6..6343c31698f 100644
--- a/.github/workflows/sanitizer-tests.yaml
+++ b/.github/workflows/sanitizer-tests.yaml
@@ -36,6 +36,9 @@ jobs:
         with:
           packages: wget
 
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+
       - name: Install colcon
         uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
 
diff --git a/.github/workflows/thread-sanitizer.yaml b/.github/workflows/thread-sanitizer.yaml
index 10db4044a5d..03f72ba6ba4 100644
--- a/.github/workflows/thread-sanitizer.yaml
+++ b/.github/workflows/thread-sanitizer.yaml
@@ -59,6 +59,9 @@ jobs:
         with:
           packages: wget
 
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+
       - name: Install colcon
         uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0