diff --git a/sdks/python/apache_beam/io/parquetio_test.py b/sdks/python/apache_beam/io/parquetio_test.py
index 78d1db4cc7c2..c7bf687f12cd 100644
--- a/sdks/python/apache_beam/io/parquetio_test.py
+++ b/sdks/python/apache_beam/io/parquetio_test.py
@@ -564,7 +564,7 @@ def test_dynamic_work_rebalancing(self):
     # count to row_group_size also being sufficiently large (but the required
     # ratio to pass varies for values of row_group_size and, somehow, the
     # version of pyarrow being tested against.)
-    file_name = self._write_data(count=280, row_group_size=20)
+    file_name = self._write_data(count=320, row_group_size=20)
     source = _create_parquet_source(file_name)
 
     splits = [split for split in source.split(desired_bundle_size=float('inf'))]
diff --git a/sdks/python/setup.py b/sdks/python/setup.py
index 0e27d99deb3b..3b195cdbc087 100644
--- a/sdks/python/setup.py
+++ b/sdks/python/setup.py
@@ -145,7 +145,7 @@ def cythonize(*args, **kwargs):
   pyarrow_dependency = ['']
 else:
   pyarrow_dependency = [
-      'pyarrow>=3.0.0,<19.0.0',
+      'pyarrow>=6.0.1,<24.0.0',
       # NOTE(https://github.com/apache/beam/issues/29392): We can remove this
       # once Beam increases the pyarrow lower bound to a version that fixes CVE.
       # (lower bound >= 14.0.1)
diff --git a/sdks/python/tox.ini b/sdks/python/tox.ini
index 093c5212e607..a86111a45c63 100644
--- a/sdks/python/tox.ini
+++ b/sdks/python/tox.ini
@@ -343,26 +343,23 @@ extras = test
 commands =
   bash {toxinidir}/scripts/pytest_validates_runner.sh {envname} {toxinidir}/apache_beam/runners/portability/prism_runner_test.py {posargs}
 
-[testenv:py{310,311}-pyarrow-{3,9,10,11,12,13,14,15,16,17,18}]
+[testenv:py{310,311}-pyarrow-{6,15,16,17,18,19,20,21,22,23}]
 deps =
   # As a courtesy to users, test against the oldest allowed version of Pyarrow.
   # We'd have to increase the pyarrow lower bound when Python 3.9 is deprecated.
   # Since Pandas 2 requires pyarrow>=7, downgrade pandas for this test.
-  3: pyarrow>=3,<4
-  3: pandas<2
-  3: numpy>=1.14.3,<1.27.0
+  6: pyarrow>=6,<7
+  6: pandas<2
   # Test against versions of pyarrow released in last ~2 years.
-  9: pyarrow>=9,<10
-  9: pandas==2.1.4
-  10: pyarrow>=10,<11
-  11: pyarrow>=11,<12
-  12: pyarrow>=12,<13
-  13: pyarrow>=13,<14
-  14: pyarrow>=14,<15
   15: pyarrow>=15,<16
   16: pyarrow>=16,<17
   17: pyarrow>=17,<18
   18: pyarrow>=18,<19
+  19: pyarrow>=19,<20
+  20: pyarrow>=20,<21
+  21: pyarrow>=21,<22
+  22: pyarrow>=22,<23
+  23: pyarrow>=23,<24
   numpy==1.26.4
 commands =
   # Log pyarrow and numpy version for debugging