diff --git a/Makefile b/Makefile
index ade11226514..ad74f9da18c 100644
--- a/Makefile
+++ b/Makefile
@@ -6,7 +6,7 @@ IMAGE := $(REGISTRY)/$(PROJECT)
 SRCDIRS := ./cmd ./internal ./apis
 LOCAL_BOOTSTRAP_CONFIG = localenvoyconfig.yaml
 SECURE_LOCAL_BOOTSTRAP_CONFIG = securelocalenvoyconfig.yaml
-ENVOY_IMAGE = docker.io/envoyproxy/envoy:v1.20.1
+ENVOY_IMAGE = docker.io/envoyproxy/envoy:v1.21.0
 GATEWAY_API_VERSION = $(shell grep "sigs.k8s.io/gateway-api" go.mod | awk '{print $$2}')
 
 # Used to supply a local Envoy docker container an IP to connect to that is running
diff --git a/changelogs/unreleased/4075-sunjayBhatia-small.md b/changelogs/unreleased/4075-sunjayBhatia-small.md
deleted file mode 100644
index 7d3e9d50978..00000000000
--- a/changelogs/unreleased/4075-sunjayBhatia-small.md
+++ /dev/null
@@ -1 +0,0 @@
-Bump Envoy to v1.20.1. See [release notes](https://www.envoyproxy.io/docs/envoy/v1.20.1/version_history/current).
\ No newline at end of file
diff --git a/changelogs/unreleased/4273-sunjayBhatia-small.md b/changelogs/unreleased/4273-sunjayBhatia-small.md
new file mode 100644
index 00000000000..11beca28351
--- /dev/null
+++ b/changelogs/unreleased/4273-sunjayBhatia-small.md
@@ -0,0 +1 @@
+Bump Envoy to v1.21.0. See [release notes](https://www.envoyproxy.io/docs/envoy/v1.21.0/version_history/current).
diff --git a/examples/contour/03-envoy.yaml b/examples/contour/03-envoy.yaml
index 04526ef48f0..e52043f03a9 100644
--- a/examples/contour/03-envoy.yaml
+++ b/examples/contour/03-envoy.yaml
@@ -56,7 +56,7 @@ spec:
         - --log-level info
         command:
         - envoy
-        image: docker.io/envoyproxy/envoy:v1.20.1
+        image: docker.io/envoyproxy/envoy:v1.21.0
         imagePullPolicy: IfNotPresent
         name: envoy
         env:
diff --git a/examples/render/contour-gateway.yaml b/examples/render/contour-gateway.yaml
index ce204dc3ca6..6361053afe8 100644
--- a/examples/render/contour-gateway.yaml
+++ b/examples/render/contour-gateway.yaml
@@ -5208,7 +5208,7 @@ spec:
         - --log-level info
         command:
         - envoy
-        image: docker.io/envoyproxy/envoy:v1.20.1
+        image: docker.io/envoyproxy/envoy:v1.21.0
         imagePullPolicy: IfNotPresent
         name: envoy
         env:
diff --git a/examples/render/contour.yaml b/examples/render/contour.yaml
index 220a8a49172..35df5115922 100644
--- a/examples/render/contour.yaml
+++ b/examples/render/contour.yaml
@@ -5205,7 +5205,7 @@ spec:
         - --log-level info
         command:
         - envoy
-        image: docker.io/envoyproxy/envoy:v1.20.1
+        image: docker.io/envoyproxy/envoy:v1.21.0
         imagePullPolicy: IfNotPresent
         name: envoy
         env:
diff --git a/go.mod b/go.mod
index 289e67e6a39..8b80a96675c 100644
--- a/go.mod
+++ b/go.mod
@@ -6,7 +6,7 @@ require (
 	github.com/ahmetb/gen-crd-api-reference-docs v0.3.0
 	github.com/bombsimon/logrusr/v2 v2.0.1
 	github.com/davecgh/go-spew v1.1.1
-	github.com/envoyproxy/go-control-plane v0.9.10-0.20211006050637-f76d23b38f14
+	github.com/envoyproxy/go-control-plane v0.10.2-0.20220112105034-1553555e45ad
 	github.com/go-logr/logr v1.2.0
 	github.com/golang/protobuf v1.5.2
 	github.com/google/go-cmp v0.5.6
diff --git a/go.sum b/go.sum
index 112284f8cd3..8fdfadfaefe 100644
--- a/go.sum
+++ b/go.sum
@@ -273,8 +273,8 @@ github.com/envoyproxy/go-control-plane v0.9.9-0.20201210154907-fd9021fe5dad/go.m
 github.com/envoyproxy/go-control-plane v0.9.9-0.20210217033140-668b12f5399d/go.mod h1:cXg6YxExXjJnVBQHBLXeUAgxn2UodCpnH306RInaBQk=
 github.com/envoyproxy/go-control-plane v0.9.9-0.20210512163311-63b5d3c536b0/go.mod h1:hliV/p42l8fGbc6Y9bQ70uLwIvmJyVE5k4iMKlh8wCQ=
 github.com/envoyproxy/go-control-plane v0.9.10-0.20210907150352-cf90f659a021/go.mod h1:AFq3mo9L8Lqqiid3OhADV3RfLJnjiw63cSpi+fDTRC0=
-github.com/envoyproxy/go-control-plane v0.9.10-0.20211006050637-f76d23b38f14 h1:+i20cKEgdzKq9kPay5sCQFs54hCTXCO+sCAMH5HQIDc=
-github.com/envoyproxy/go-control-plane v0.9.10-0.20211006050637-f76d23b38f14/go.mod h1:kO0EGgHDqkmaTB0bvNfdXEVQsUOD+poi+ry4urQS1qc=
+github.com/envoyproxy/go-control-plane v0.10.2-0.20220112105034-1553555e45ad h1:B2ZhNRfmn7ySKRI2M4nhe4kFKhO/5lnjVP0hgbmtmco=
+github.com/envoyproxy/go-control-plane v0.10.2-0.20220112105034-1553555e45ad/go.mod h1:KJwIaB5Mv44NWtYuAOFCVOjcI94vtpEz2JU/D2v6IjE=
 github.com/envoyproxy/protoc-gen-validate v0.1.0 h1:EQciDnbrYxy13PgWoY8AqoxGiPrpgBZ1R8UNe3ddc+A=
 github.com/envoyproxy/protoc-gen-validate v0.1.0/go.mod h1:iSmxcyjqTsJpI2R4NaDN7+kN2VEUnK/pcBlmesArF7c=
 github.com/evanphx/json-patch v0.5.2/go.mod h1:ZWS5hhDbVDyob71nXKNL0+PWn6ToqBHMikGIFbs31qQ=
@@ -1744,8 +1744,6 @@ sigs.k8s.io/controller-tools v0.6.0/go.mod h1:baRMVPrctU77F+rfAuH2uPqW93k6yQnZA2
 sigs.k8s.io/controller-tools v0.6.2 h1:+Y8L0UsAugDipGRw8lrkPoAi6XqlQVZuf1DQHME3PgU=
 sigs.k8s.io/controller-tools v0.6.2/go.mod h1:oaeGpjXn6+ZSEIQkUe/+3I40PNiDYp9aeawbt3xTgJ8=
 sigs.k8s.io/gateway-api v0.3.0/go.mod h1:Wb8bx7QhGVZxOSEU3i9vw/JqTB5Nlai9MLMYVZeDmRQ=
-sigs.k8s.io/gateway-api v0.4.0 h1:07IJkTt21NetZTHtPKJk2I4XIgDN4BAlTIq1wK7V11o=
-sigs.k8s.io/gateway-api v0.4.0/go.mod h1:r3eiNP+0el+NTLwaTfOrCNXy8TukC+dIM3ggc+fbNWk=
 sigs.k8s.io/gateway-api v0.4.1 h1:Tof9/PNSZXyfDuTTe1XFvaTlvBRE6bKq1kmV6jj6rQE=
 sigs.k8s.io/gateway-api v0.4.1/go.mod h1:r3eiNP+0el+NTLwaTfOrCNXy8TukC+dIM3ggc+fbNWk=
 sigs.k8s.io/json v0.0.0-20211020170558-c049b76a60c6 h1:fD1pz4yfdADVNfFmcP2aBEtudwUQ1AlLnRBALr33v3s=
diff --git a/internal/envoy/v3/auth.go b/internal/envoy/v3/auth.go
index d0ae3343bef..292b6331e01 100644
--- a/internal/envoy/v3/auth.go
+++ b/internal/envoy/v3/auth.go
@@ -81,6 +81,7 @@ func validationContext(ca []byte, subjectName string, skipVerifyPeerCert bool) *
 	}
 
 	if len(subjectName) > 0 {
+		// nolint:staticcheck
 		vc.ValidationContext.MatchSubjectAltNames = []*matcher.StringMatcher{{
 			MatchPattern: &matcher.StringMatcher_Exact{
 				Exact: subjectName,
diff --git a/site/content/resources/compatibility-matrix.md b/site/content/resources/compatibility-matrix.md
index 7d34beb7e9e..c143d30241f 100644
--- a/site/content/resources/compatibility-matrix.md
+++ b/site/content/resources/compatibility-matrix.md
@@ -10,7 +10,7 @@ These combinations of versions are specifically tested in CI and supported by th
 
 | Contour Version | Envoy Version        | Kubernetes Versions | Operator Version | Gateway API Version |
 | --------------- | :------------------- | ------------------- | ---------------- | --------------------|
-| main            | [1.20.1][14]         | 1.23, 1.22, 1.21    | [main][50]       | v1alpha2            |
+| main            | [1.21.0][14]         | 1.23, 1.22, 1.21    | [main][50]       | v1alpha2            |
 | 1.19.1          | [1.19.1][13]         | 1.22, 1.21, 1.20    | [1.19.1][65]       | v1alpha1            |
 | 1.19.0          | [1.19.1][13]         | 1.22, 1.21, 1.20    | [1.19.0][64]       | v1alpha1            |
 | 1.18.3          | [1.19.1][13]         | 1.21, 1.20, 1.19    | [1.18.3][66]     | v1alpha1            |
@@ -107,7 +107,7 @@ __Note:__ This list of extensions was last verified to be complete with Envoy v1
 [11]: https://www.envoyproxy.io/docs/envoy/v1.17.4/version_history/current
 [12]: https://www.envoyproxy.io/docs/envoy/v1.18.4/version_history/current
 [13]: https://www.envoyproxy.io/docs/envoy/v1.19.1/version_history/current
-[14]: https://www.envoyproxy.io/docs/envoy/v1.20.1/version_history/current
+[14]: https://www.envoyproxy.io/docs/envoy/v1.21.0/version_history/current
 
 [50]: https://github.com/projectcontour/contour-operator
 [51]: https://github.com/projectcontour/contour-operator/releases/tag/v1.11.0
diff --git a/versions.yaml b/versions.yaml
index 7c81075c79c..471bb11bcb8 100644
--- a/versions.yaml
+++ b/versions.yaml
@@ -7,7 +7,7 @@ versions:
   - version: main
     supported: "false"
     dependencies:
-      envoy: "1.20.1"
+      envoy: "1.21.0"
       kubernetes:
         - "1.23"
         - "1.22"