diff --git a/.github/workflows/telepresence.yaml b/.github/workflows/telepresence.yaml
new file mode 100644
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+++ b/.github/workflows/telepresence.yaml
@@ -0,0 +1,79 @@
+#
+# Copyright (C) 2019-2023 vdaas.org vald team <vald@vdaas.org>
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# You may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+name: "Telepresence test"
+on:
+  push:
+    branches:
+      - main
+    paths:
+      - "go.mod"
+      - "go.sum"
+      - ".github/workflows/telepresence.yml"
+      - "internal/**"
+      - "pkg/**"
+      - "cmd/**"
+  pull_request:
+    paths:
+      - "go.mod"
+      - "go.sum"
+      - ".github/workflows/telepresence.yml"
+      - "internal/**"
+      - "pkg/**"
+      - "cmd/**"
+
+env:
+  DATASET: fashion-mnist-784-euclidean.hdf5
+
+jobs:
+  telepresence:
+    name: "Try to deploy telepresence"
+    needs: [dump-contexts-to-log]
+    runs-on: ubuntu-latest
+    timeout-minutes: 60
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Set Git config
+        run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
+
+      - name: Setup E2E environment
+        id: setup_e2e
+        uses: ./.github/actions/setup-e2e
+
+      - name: Deploy Vald
+        id: deploy_vald
+        uses: ./.github/actions/e2e-deploy-vald
+        with:
+          helm_extra_options: ${{ steps.setup_e2e.outputs.HELM_EXTRA_OPTIONS }}
+          values: .github/helm/values/values-lb.yaml
+          wait_for_selector: app=vald-lb-gateway
+
+      - name: Install telepresence
+        env:
+          TELEPRESENCE_VERSION: 2.15.1
+        run: |
+          sudo curl -fL https://app.getambassador.io/download/tel2/linux/amd64/${TELEPRESENCE_VERSION}/telepresence -o /usr/local/bin/telepresence
+          sudo chmod a+x /usr/local/bin/telepresence
+
+      - name: Deploy telepresence
+        run: telepresence helm install
+
+      - name: Connect to telepresence
+        run: telepresence connect
+
+      - name: Check if telepresence is working
+        run: curl vald-lb-gateway.default.svc.cluster.local:8081