diff --git a/.github/workflows/milestone-on-tag.yml b/.github/workflows/milestone-on-tag.yml
new file mode 100644
index 00000000..0df1cf25
--- /dev/null
+++ b/.github/workflows/milestone-on-tag.yml
@@ -0,0 +1,23 @@
+on:
+  pull_request:
+    types: [labeled, unlabeled]
+
+jobs:
+  add-milestone:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Check if tag is a valid version
+        uses: actions-ecosystem/action-regex-match@v2
+        id: regex-match
+        with:
+          text: ${{ github.event.label.name }}
+          regex: 'v[0-9]+?\.[0-9]+?\.[0-9]+?'
+
+      - name: Assign a milestone to pull requests
+        uses: zoispag/action-assign-milestone@v2.1.0
+        if: ${{ steps.regex-match.outputs.match != '' }}
+        with:
+          repo-token: "${{ secrets.GITHUB_TOKEN }}"
+          milestone: "${{ steps.regex-match.outputs.match }}"