diff --git a/dist/index.js b/dist/index.js
index ccd64cae..355c1499 100644
--- a/dist/index.js
+++ b/dist/index.js
@@ -11337,7 +11337,6 @@ function runTests(colconCommandPrefix, options, testPackageSelection, colconExtr
             `colcon`,
             `test`,
             `--event-handlers=console_cohesion+`,
-            `--return-code-on-test-failure`,
             ...testPackageSelection,
             ...colconExtraArgs,
         ];
@@ -11346,6 +11345,15 @@ function runTests(colconCommandPrefix, options, testPackageSelection, colconExtr
         }
         if (doTests) {
             yield execShellCommand([...colconCommandPrefix, ...colconTestCmd], options, false);
+            /**
+             * Display all test results first and ignore the return code. Then, display only failing
+             * tests with their output and let non-zero return code fail the job.
+             */
+            const colconTestResultCmd = ["colcon", "test-result"];
+            const colconTestResultAllCmd = [...colconTestResultCmd, "--all"];
+            const colconTestResultVerboseCmd = [...colconTestResultCmd, "--verbose"];
+            yield execShellCommand([...colconCommandPrefix, ...colconTestResultAllCmd], Object.assign(Object.assign({}, options), { ignoreReturnCode: true }), false);
+            yield execShellCommand([...colconCommandPrefix, ...colconTestResultVerboseCmd], options, false);
         }
         if (doLcovResult) {
             // ignoreReturnCode, check comment above in --initial
diff --git a/src/action-ros-ci.ts b/src/action-ros-ci.ts
index c1ae6d30..f432e59d 100644
--- a/src/action-ros-ci.ts
+++ b/src/action-ros-ci.ts
@@ -239,7 +239,6 @@ async function runTests(
 		`colcon`,
 		`test`,
 		`--event-handlers=console_cohesion+`,
-		`--return-code-on-test-failure`,
 		...testPackageSelection,
 		...colconExtraArgs,
 	];
@@ -253,6 +252,27 @@ async function runTests(
 			options,
 			false
 		);
+
+		/**
+		 * Display all test results first and ignore the return code. Then, display only failing
+		 * tests with their output and let non-zero return code fail the job.
+		 */
+		const colconTestResultCmd = ["colcon", "test-result"];
+		const colconTestResultAllCmd = [...colconTestResultCmd, "--all"];
+		const colconTestResultVerboseCmd = [...colconTestResultCmd, "--verbose"];
+		await execShellCommand(
+			[...colconCommandPrefix, ...colconTestResultAllCmd],
+			{
+				...options,
+				ignoreReturnCode: true,
+			},
+			false
+		);
+		await execShellCommand(
+			[...colconCommandPrefix, ...colconTestResultVerboseCmd],
+			options,
+			false
+		);
 	}
 
 	if (doLcovResult) {