diff --git a/tools/workspace/stable_baselines3_internal/connection.patch b/tools/workspace/stable_baselines3_internal/connection.patch
deleted file mode 100644
index 956e2270eeb1..000000000000
--- a/tools/workspace/stable_baselines3_internal/connection.patch
+++ /dev/null
@@ -1,11 +0,0 @@
-diff --git a/stable_baselines3/common/vec_env/subproc_vec_env.py b/stable_baselines3/common/vec_env/subproc_vec_env.py
-index f723c71..43fa394 100644
---- stable_baselines3/common/vec_env/subproc_vec_env.py
-+++ stable_baselines3/common/vec_env/subproc_vec_env.py
-@@ -1,5 +1,6 @@
- import multiprocessing as mp
- from collections import OrderedDict
-+from multiprocessing import connection
- from typing import Any, Callable, List, Optional, Sequence, Tuple, Type, Union
- 
- import gym
diff --git a/tools/workspace/stable_baselines3_internal/no_torch.patch b/tools/workspace/stable_baselines3_internal/no_torch.patch
index eae5b22bda90..671318774509 100644
--- a/tools/workspace/stable_baselines3_internal/no_torch.patch
+++ b/tools/workspace/stable_baselines3_internal/no_torch.patch
@@ -1,9 +1,10 @@
-diff --git a/stable_baselines3/__init__.py b/stable_baselines3/__init__.py
-index d73f5f0..5797dba 100644
+diff --git stable_baselines3/__init__.py stable_baselines3/__init__.py
+index 680e254..633ae10 100644
 --- stable_baselines3/__init__.py
 +++ stable_baselines3/__init__.py
-@@ -1,13 +1,19 @@
- import os
+@@ -2,14 +2,20 @@ import os
+ 
+ import numpy as np
  
 -from stable_baselines3.a2c import A2C
 -from stable_baselines3.common.utils import get_system_info
@@ -28,16 +29,16 @@ index d73f5f0..5797dba 100644
 +SAC = make_not_loaded("SAC")
 +TD3 = make_not_loaded("TD3")
  
- # Read version from file
- version_file = os.path.join(os.path.dirname(__file__), "version.txt")
-diff --git a/stable_baselines3/common/env_checker.py b/stable_baselines3/common/env_checker.py
-index 3b2c502..392d9df 100644
+ # Small monkey patch so gym 0.21 is compatible with numpy >= 1.24
+ # TODO: remove when upgrading to gym 0.26
+diff --git stable_baselines3/common/env_checker.py stable_baselines3/common/env_checker.py
+index b71454b..af79679 100644
 --- stable_baselines3/common/env_checker.py
 +++ stable_baselines3/common/env_checker.py
 @@ -6,7 +6,13 @@ import numpy as np
  from gym import spaces
  
- from stable_baselines3.common.preprocessing import is_image_space_channels_first
+ from stable_baselines3.common.preprocessing import check_for_nested_spaces, is_image_space_channels_first
 -from stable_baselines3.common.vec_env import DummyVecEnv, VecCheckNan
 +
 +torch_available = False
@@ -49,7 +50,7 @@ index 3b2c502..392d9df 100644
  
  
  def _is_numpy_array_space(space: spaces.Space) -> bool:
-@@ -87,6 +93,8 @@ def _check_unsupported_spaces(env: gym.Env, observation_space: spaces.Space, act
+@@ -91,6 +97,8 @@ def _check_unsupported_spaces(env: gym.Env, observation_space: spaces.Space, act
  
  def _check_nan(env: gym.Env) -> None:
      """Check for Inf and NaN using the VecWrapper."""
@@ -58,8 +59,8 @@ index 3b2c502..392d9df 100644
      vec_env = VecCheckNan(DummyVecEnv([lambda: env]))
      for _ in range(10):
          action = np.array([env.action_space.sample()])
-diff --git a/stable_baselines3/common/preprocessing.py b/stable_baselines3/common/preprocessing.py
-index 01422aa..0603891 100644
+diff --git stable_baselines3/common/preprocessing.py stable_baselines3/common/preprocessing.py
+index e280ed7..f648b88 100644
 --- stable_baselines3/common/preprocessing.py
 +++ stable_baselines3/common/preprocessing.py
 @@ -1,10 +1,15 @@
@@ -80,7 +81,7 @@ index 01422aa..0603891 100644
  
  
  def is_image_space_channels_first(observation_space: spaces.Box) -> bool:
-@@ -83,10 +88,10 @@ def maybe_transpose(observation: np.ndarray, observation_space: spaces.Space) ->
+@@ -90,10 +95,10 @@ def maybe_transpose(observation: np.ndarray, observation_space: spaces.Space) ->
  
  
  def preprocess_obs(
@@ -93,4 +94,3 @@ index 01422aa..0603891 100644
      """
      Preprocess observation to be to a neural network.
      For images, it normalizes the values by dividing them by 255 (to have values in [0, 1])
-
diff --git a/tools/workspace/stable_baselines3_internal/repository.bzl b/tools/workspace/stable_baselines3_internal/repository.bzl
index 9f8cd2ecf1b1..48d7be206d86 100644
--- a/tools/workspace/stable_baselines3_internal/repository.bzl
+++ b/tools/workspace/stable_baselines3_internal/repository.bzl
@@ -6,11 +6,10 @@ def stable_baselines3_internal_repository(
     github_archive(
         name = name,
         repository = "DLR-RM/stable-baselines3",
-        commit = "v1.7.0",
-        sha256 = "f91a4a87f780b55f8c490dac177fb8474f6f18dd76ed488e78b3795f1d1c1bc4",  # noqa
+        commit = "v1.8.0",
+        sha256 = "2ac876fc53546258008dbb1d249eb5b051bf9f0c8d1aae88c0c75af08c1c180d",  # noqa
         build_file = ":package.BUILD.bazel",
         patches = [
-            ":connection.patch",
             ":no_torch.patch",
         ],
         mirrors = mirrors,