diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index bdd467fe0..87b412a56 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -93,10 +93,15 @@ jobs:
         submodules: true
     - name: Bootstrap
       run: |
-        sudo pip3 install -U scikit-build
-        sudo pip3 install -U cmake==3.10.3
+        sudo apt-get --no-install-recommends install -y build-essential ninja-build libreadline-dev libncurses-dev
+        sudo apt-get remove cmake
+        sudo apt-get purge --auto-remove cmake
+        wget http://www.cmake.org/files/v3.10/cmake-3.10.3.tar.gz
+        tar xf cmake-3.10.3.tar.gz
+        cd cmake-3.10.3
+        ./configure
+        sudo make install
         cmake --version | grep 3.10.3
-        sudo apt-get --no-install-recommends install -y ninja-build libreadline-dev libncurses-dev
     - name: Build
       run: |
         OT_NODE_TYPE=rcp ./script/test build
@@ -212,12 +217,16 @@ jobs:
       run: |
         cd /tmp
         sudo rm /etc/apt/sources.list.d/* && sudo apt-get update
-        sudo apt-get --no-install-recommends install -y lib32z1 ninja-build gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
+        sudo apt-get --no-install-recommends install -y build-essential lib32z1 ninja-build gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
         wget --tries 4 --no-check-certificate --quiet ${{ matrix.gcc_download_url }} -O gcc-arm.tar.bz2
         tar xjf gcc-arm.tar.bz2
-        # use the minimal required cmake version
-        sudo pip3 install -U scikit-build
-        sudo pip3 install -U cmake==3.10.3
+        sudo apt-get remove cmake
+        sudo apt-get purge --auto-remove cmake
+        wget http://www.cmake.org/files/v3.10/cmake-3.10.3.tar.gz
+        tar xf cmake-3.10.3.tar.gz
+        cd cmake-3.10.3
+        ./configure
+        sudo make install
         cmake --version | grep 3.10.3
     - name: Build
       env: