diff --git a/brax/envs/wrappers/gym.py b/brax/envs/wrappers/gym.py
index 69ff2e9b..c1ed97c5 100644
--- a/brax/envs/wrappers/gym.py
+++ b/brax/envs/wrappers/gym.py
@@ -17,9 +17,11 @@
 
 from brax.envs.base import PipelineEnv
 from brax.io import image
-import gym
-from gym import spaces
-from gym.vector import utils
+
+import gymnasium as gym
+from gymnasium import spaces
+from gymnasium.vector import utils
+
 import jax
 import numpy as np
 
@@ -72,7 +74,7 @@ def reset(self):
   def step(self, action):
     self._state, obs, reward, done, info = self._step(self._state, action)
     # We return device arrays for pytorch users.
-    return obs, reward, done, info
+    return gym.utils.step_api_compatibility.convert_to_terminated_truncated_step_api((obs, reward, done, info))
 
   def seed(self, seed: int = 0):
     self._key = jax.random.PRNGKey(seed)
@@ -129,7 +131,7 @@ def reset(key):
     def step(state, action):
       state = self._env.step(state, action)
       info = {**state.metrics, **state.info}
-      return state, state.obs, state.reward, state.done, info
+      return gym.utils.step_api_compatibility.convert_to_terminated_truncated_step_api((state, state.obs, state.reward, state.done, info), is_vector_env=True)
 
     self._step = jax.jit(step, backend=self.backend)
 
diff --git a/brax/v1/envs/wrappers.py b/brax/v1/envs/wrappers.py
index 6326c103..dffb065d 100644
--- a/brax/v1/envs/wrappers.py
+++ b/brax/v1/envs/wrappers.py
@@ -19,12 +19,11 @@
 
 from brax.v1 import jumpy as jp
 from brax.v1.envs import env as brax_env
-import dm_env
-from dm_env import specs
-import flax
+
 import gym
 from gym import spaces
 from gym.vector import utils
+
 import jax
 import jax.numpy as jnp
 
diff --git a/setup.py b/setup.py
index 13bd2c16..520523a7 100644
--- a/setup.py
+++ b/setup.py
@@ -45,8 +45,8 @@
         "flask_cors",
         "flax",
         # TODO: remove grpcio and gym after dropping legacy v1 code
+        "gymnasium",
         "grpcio",
-        "gym",
         "jax>=0.4.6",
         "jaxlib>=0.4.6",
         "jaxopt",