diff --git a/.lint/.bazeliskrc b/.lint/.bazeliskrc
index ef1c6a25..62c7ea01 100644
--- a/.lint/.bazeliskrc
+++ b/.lint/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=6.4.0
+USE_BAZEL_VERSION=7.1.2
diff --git a/bazel_ros2_rules/.bazeliskrc b/bazel_ros2_rules/.bazeliskrc
index ef1c6a25..62c7ea01 100644
--- a/bazel_ros2_rules/.bazeliskrc
+++ b/bazel_ros2_rules/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=6.4.0
+USE_BAZEL_VERSION=7.1.2
diff --git a/bazel_ros2_rules/setup/install_prereqs.sh b/bazel_ros2_rules/setup/install_prereqs.sh
index 477568be..4a5e6916 100755
--- a/bazel_ros2_rules/setup/install_prereqs.sh
+++ b/bazel_ros2_rules/setup/install_prereqs.sh
@@ -50,10 +50,12 @@ function dpkg_install_from_curl() {
 
 apt install g++ unzip zlib1g-dev
 
+# TODO(eric.cousineau) Once there's a bazelisk 1.20 that incorporates pr563, we
+# should switch to using that here.
 dpkg_install_from_curl \
-  bazel 6.4.0 \
-  https://github.com/bazelbuild/bazel/releases/download/6.4.0/bazel_6.4.0-linux-x86_64.deb \
-  9276a1e11f03e9f7492f009803c95bddc307993c9ab3c463721c9f6cdaa2ccc1
+  bazelisk 1.19.0 \
+  https://drake-mirror.csail.mit.edu/github/bazelbuild/bazelisk/pr563/bazelisk_1.19.0-9-g58a850f_amd64.deb \
+  c2bfd15d6c3422ae540cda9facc0ac395005e2701c09dbb15d40447b53e831d4
 
 # Install Python dependencies
 apt install python3 python3-toposort python3-dev python-is-python3
diff --git a/drake_ros/.bazeliskrc b/drake_ros/.bazeliskrc
index ef1c6a25..62c7ea01 100644
--- a/drake_ros/.bazeliskrc
+++ b/drake_ros/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=6.4.0
+USE_BAZEL_VERSION=7.1.2
diff --git a/drake_ros_examples/.bazeliskrc b/drake_ros_examples/.bazeliskrc
index ef1c6a25..62c7ea01 100644
--- a/drake_ros_examples/.bazeliskrc
+++ b/drake_ros_examples/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=6.4.0
+USE_BAZEL_VERSION=7.1.2
diff --git a/ros2_example_bazel_installed/.bazeliskrc b/ros2_example_bazel_installed/.bazeliskrc
index ef1c6a25..62c7ea01 100644
--- a/ros2_example_bazel_installed/.bazeliskrc
+++ b/ros2_example_bazel_installed/.bazeliskrc
@@ -1,3 +1,3 @@
 # When bazelisk in use, this dotfile specifies which version of Bazel should be
 # used to build and test.
-USE_BAZEL_VERSION=6.4.0
+USE_BAZEL_VERSION=7.1.2
diff --git a/ros2_example_bazel_installed/setup/install_prereqs.sh b/ros2_example_bazel_installed/setup/install_prereqs.sh
index 2ab1b9d3..85a9f87a 100755
--- a/ros2_example_bazel_installed/setup/install_prereqs.sh
+++ b/ros2_example_bazel_installed/setup/install_prereqs.sh
@@ -58,11 +58,12 @@ function dpkg_install_from_curl() {
 
 apt install g++ unzip zlib1g-dev
 
-# TODO(sloretz) Make sure the version of bazel is exactly the same as the one used by Drake
+# TODO(eric.cousineau) Once there's a bazelisk 1.20 that incorporates pr563, we
+# should switch to using that here.
 dpkg_install_from_curl \
-  bazel 6.4.0 \
-  https://github.com/bazelbuild/bazel/releases/download/6.4.0/bazel_6.4.0-linux-x86_64.deb \
-  9276a1e11f03e9f7492f009803c95bddc307993c9ab3c463721c9f6cdaa2ccc1
+  bazelisk 1.19.0 \
+  https://drake-mirror.csail.mit.edu/github/bazelbuild/bazelisk/pr563/bazelisk_1.19.0-9-g58a850f_amd64.deb \
+  c2bfd15d6c3422ae540cda9facc0ac395005e2701c09dbb15d40447b53e831d4
 
 # If the user did not explicitly specify their installation prefix, install
 # ROS 2 Humble.