diff --git a/.github/workflows/publish_docker.yml b/.github/workflows/publish_docker.yml
index 25db2724909..b5ed42f700c 100644
--- a/.github/workflows/publish_docker.yml
+++ b/.github/workflows/publish_docker.yml
@@ -46,7 +46,7 @@ jobs:
 
       - name: Build package
         working-directory: panda/debian
-        run: ./setup.sh Ubuntu ${{ matrix.ubuntu_version }}
+        run: ./setup.sh Ubuntu ${{ matrix.ubuntu_version }} ${{ needs.create_release.outputs.v-version }}
 
       - name: Upload wheel and debian packages to release
         uses: softprops/action-gh-release@v2
diff --git a/panda/debian/.gitignore b/panda/debian/.gitignore
index 7bbf39a4c32..b6c92bba57e 100644
--- a/panda/debian/.gitignore
+++ b/panda/debian/.gitignore
@@ -1 +1,2 @@
-panda.deb
+*.deb
+*.whl
diff --git a/panda/debian/Dockerfile b/panda/debian/Dockerfile
index 8d45e844161..bb988c1b85c 100644
--- a/panda/debian/Dockerfile
+++ b/panda/debian/Dockerfile
@@ -1,7 +1,9 @@
+ARG PACKAGE_VERSION=""
+
 # First run the main Dockerfile to build the base image and name it panda. Then we run here
 # to generate a debian package
 
-FROM debian:buster-slim
+FROM debian:bookworm-slim
 
 # Install necessary tools for packaging
 RUN apt-get -qq update && \
@@ -21,6 +23,10 @@ COPY --from=panda /usr/local/share/panda /package-root/usr/local/share/panda
 # Create DEBIAN directory and control file
 COPY control /package-root/DEBIAN/control
 
+# Update control file with the correct version
+ARG PACKAGE_VERSION
+RUN sed -i "s/^Version:.*/Version: ${PACKAGE_VERSION}/" /package-root/DEBIAN/control
+
 # Update control file with dependencies
 # Build time. We only select dependencies that are not commented out or blank
 RUN dependencies=$(grep '^[a-zA-Z]' /tmp/build_dep.txt | tr '\n' ',' | sed 's/,,\+/,/g'| sed 's/,$//') && \
diff --git a/panda/debian/control b/panda/debian/control
index c5457a4457d..0b103dd8af3 100644
--- a/panda/debian/control
+++ b/panda/debian/control
@@ -1,5 +1,5 @@
 Package: pandare
-Version: 3.1.0
+Version: <version-placeholder>
 Architecture: all
 BUILD_DEPENDS_LIST
 DEPENDS_LIST
diff --git a/panda/debian/setup.sh b/panda/debian/setup.sh
index b28dc85c7e2..f99ee23fc99 100755
--- a/panda/debian/setup.sh
+++ b/panda/debian/setup.sh
@@ -25,17 +25,33 @@ if [[ $# -eq 1 ]]; then
 	echo "	To build a package for current Ubuntu version:"
 	echo "	  $0"
 	echo "	To build a package for a specific OS/version (only Ubuntu supported for now):"
-	echo "	  $0 <OS> <version>"
+	echo "	  $0 <OS> <ubutun-version> <tag-version>"
 	exit 1
 fi
 
 if [[ $# -eq 2 ]]; then
 	version=$2
-
 else
 	version=$(lsb_release -r | awk '{print $2}')
 fi
 
+if [[ $# -eq 3 ]]; then
+	tag_version=$3
+else
+	tag_version='v3.1.0'
+fi
+
+# Remove leading 'v' if present, e. g. v1.5.1 -> 1.5.1
+if [[ "$tag_version" =~ ^v[0-9]+\.[0-9]+\.[0-9]+$ ]]; then
+    tag_version=${tag_version:1}
+fi
+
+# Check if the version follows the format X.Y.Z, e. g. 1.5.1 or 1.9.1
+if [[ ! "$tag_version" =~ ^[0-9]+\.[0-9]+\.[0-9]+$ ]]; then
+    echo "ERROR: Version must be in the format X.Y.Z, provided tag version: $tag_version"
+    exit 1
+fi
+
 # Check if the given version is supported
 if [[ ! -f "../dependencies/ubuntu_${version}_base.txt" ]]; then
 	echo "ERROR: Ubuntu ${version} is not supported, no dependencies file found"
@@ -53,7 +69,7 @@ docker run --rm -v $(pwd):/out panda bash -c "cp /panda/panda/python/core/dist/*
 DOCKER_BUILDKIT=1 docker build --target panda -t panda --build-arg BASE_IMAGE="ubuntu:${version}" ../..
 
 # Now build the packager container from that
-docker build -t packager .
+docker build -t packager --build-arg PACKAGE_VERSION="${tag_version}" .
 
 # Copy deb file out of container to host
 docker run --rm -v $(pwd):/out packager bash -c "cp /pandare.deb /out"