diff --git a/Jenkinsfile b/Jenkinsfile
index a200aaf6..e7268b23 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -31,7 +31,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *****************************************************************************/
 
-node('drake-external-examples-linux-bionic-unprovisioned') {
+node('drake-external-examples-linux-focal-unprovisioned') {
   timeout(600) {
     ansiColor('xterm') {
       def triggers = []
diff --git a/drake_bazel_installed/WORKSPACE b/drake_bazel_installed/WORKSPACE
index f62f277e..057d8fca 100644
--- a/drake_bazel_installed/WORKSPACE
+++ b/drake_bazel_installed/WORKSPACE
@@ -44,7 +44,7 @@ py_repositories()
 # Choose which nightly build of Drake to use.
 DRAKE_RELEASE = "latest"  # Can also use YYYYMMDD here, e.g., "20191026".
 DRAKE_CHECKSUM = ""       # When using YYYYMMDD, best to add a checksum here.
-OS_CODENAME = "bionic"    # Permitted values are "bionic" or "focal" or "mac".
+OS_CODENAME = "focal"     # Permitted values are "focal" or "mac".
 
 # To use a local unpacked Drake binary release instead of an http download, set
 # this variable to the correct path, e.g., "/opt/drake".
diff --git a/scripts/continuous_integration/jenkins/setup b/scripts/continuous_integration/jenkins/setup
index ba7691bd..63710461 100755
--- a/scripts/continuous_integration/jenkins/setup
+++ b/scripts/continuous_integration/jenkins/setup
@@ -31,7 +31,7 @@
 
 set -euxo pipefail
 
-sudo ./scripts/continuous_integration/common/linux_ubuntu_bionic
+sudo ./scripts/continuous_integration/common/linux_ubuntu_focal
 
 cat > "${HOME}/.bazelrc" << EOF
 startup --output_user_root=${WORKSPACE}/_bazel_${USER}