diff --git a/.github/workflows/benchmark.yaml b/.github/workflows/benchmark.yaml
deleted file mode 100644
index 9f87ca4cbc3..00000000000
--- a/.github/workflows/benchmark.yaml
+++ /dev/null
@@ -1,56 +0,0 @@
-name: Benchmarking Tests at Scale
-on:
-  pull_request:
-    branches:
-      - "main"
-      - "release/v*"
-  workflow_dispatch:
-    inputs:
-      rps:
-        description: "The target requests-per-second rate. Default: 10000"
-        default: '10000'
-        type: string
-        required: false
-      connections:
-        description: "The maximum allowed number of concurrent connections per event loop. HTTP/1 only. Default: 100."
-        default: '100'
-        type: string
-        required: false
-      duration:
-        description: "The number of seconds that the test should run. Default: 90."
-        default: '90'
-        type: string
-        required: false
-      cpu_limits:
-        description: "The CPU resource limits for the envoy gateway, in unit 'm'. Default: 1000."
-        default: '1000'
-        type: string
-        required: false
-      memory_limits:
-        description: "The memory resource limits for the envoy gateway, in unit 'Mi'. Default: 1024."
-        default: '1024'
-        type: string
-        required: false
-
-jobs:
-  benchmark-test:
-    name: Benchmark Test
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-
-      - uses: ./tools/github-actions/setup-deps
-
-      - name: Run Benchmark tests
-        env:
-          KIND_NODE_TAG: v1.28.0
-          IMAGE_PULL_POLICY: IfNotPresent
-          BENCHMARK_RPS: ${{ github.event.inputs.rps || 10000 }}
-          BENCHMARK_CONNECTIONS: ${{ github.event.inputs.connections || 100 }}
-          BENCHMARK_DURATION: ${{ github.event.inputs.duration || 90 }}
-          BENCHMARK_CPU_LIMITS: ${{ github.event.inputs.cpu_limits || 1000 }}
-          BENCHMARK_MEMORY_LIMITS: ${{ github.event.inputs.memory_limits || 2048 }}
-        run: make benchmark
-
-      - name: Read Benchmark report
-        run: cat test/benchmark/benchmark_report.md
diff --git a/.github/workflows/build_and_test.yaml b/.github/workflows/build_and_test.yaml
index 72a03539ad2..f7079180f18 100644
--- a/.github/workflows/build_and_test.yaml
+++ b/.github/workflows/build_and_test.yaml
@@ -135,6 +135,29 @@ jobs:
         IMAGE_PULL_POLICY: IfNotPresent
       run: make e2e
 
+  benchmark-test:
+    runs-on: ubuntu-latest
+    needs: [build]
+    steps:
+    - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332  # v4.1.7
+    - uses: ./tools/github-actions/setup-deps
+
+    # Benchmark
+    - name: Run Benchmark tests
+      env:
+        KIND_NODE_TAG: v1.28.9
+        IMAGE_PULL_POLICY: IfNotPresent
+        # Args for benchmark test
+        BENCHMARK_RPS: 10000
+        BENCHMARK_CONNECTIONS: 100
+        BENCHMARK_DURATION: 30
+        BENCHMARK_CPU_LIMITS: 1000
+        BENCHMARK_MEMORY_LIMITS: 2000
+      run: make benchmark
+
+    - name: Read Benchmark report
+      run: cat test/benchmark/benchmark_report.md
+
   publish:
     runs-on: ubuntu-latest
     needs: [conformance-test, e2e-test]