diff --git a/d3rlpy/datasets.py b/d3rlpy/datasets.py
index dc11a4ae..bf383437 100644
--- a/d3rlpy/datasets.py
+++ b/d3rlpy/datasets.py
@@ -389,6 +389,7 @@ def get_d4rl(
     transition_picker: Optional[TransitionPickerProtocol] = None,
     trajectory_slicer: Optional[TrajectorySlicerProtocol] = None,
     render_mode: Optional[str] = None,
+    max_episode_steps: int = 1000,
 ) -> Tuple[ReplayBuffer, gym.Env[NDArray, NDArray]]:
     """Returns d4rl dataset and envrironment.
 
@@ -410,12 +411,17 @@ def get_d4rl(
         transition_picker: TransitionPickerProtocol object.
         trajectory_slicer: TrajectorySlicerProtocol object.
         render_mode: Mode of rendering (``human``, ``rgb_array``).
+        max_episode_steps: Maximum episode environmental steps.
 
     Returns:
         tuple of :class:`d3rlpy.dataset.ReplayBuffer` and gym environment.
     """
     try:
-        import d4rl  # type: ignore
+        import d4rl
+        from d4rl.locomotion.wrappers import NormalizedBoxEnv
+        from d4rl.utils.wrappers import (
+            NormalizedBoxEnv as NormalizedBoxEnvFromUtils,
+        )
 
         env = gym.make(env_name)
         raw_dataset: Dict[str, NDArray] = env.get_dataset()  # type: ignore
@@ -436,11 +442,17 @@ def get_d4rl(
             trajectory_slicer=trajectory_slicer,
         )
 
-        # wrapped by NormalizedBoxEnv that is incompatible with newer Gym
-        unwrapped_env: gym.Env[Any, Any] = env.env.env.env.wrapped_env  # type: ignore
+        # remove incompatible wrappers
+        normalized_env = env.env.env.env  # type: ignore
+        assert isinstance(
+            normalized_env, (NormalizedBoxEnv, NormalizedBoxEnvFromUtils)
+        )
+        unwrapped_env: gym.Env[Any, Any] = normalized_env.wrapped_env
         unwrapped_env.render_mode = render_mode  # overwrite
 
-        return dataset, TimeLimit(unwrapped_env, max_episode_steps=1000)
+        return dataset, TimeLimit(
+            normalized_env, max_episode_steps=max_episode_steps
+        )
     except ImportError as e:
         raise ImportError(
             "d4rl is not installed.\n" "$ d3rlpy install d4rl"
diff --git a/mypy.ini b/mypy.ini
index b6f45301..0d910287 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -61,3 +61,8 @@ follow_imports_for_stubs = True
 
 [mypy-minari.*]
 ignore_missing_imports = True
+
+[mypy-d4rl.*]
+ignore_missing_imports = True
+follow_imports = skip
+follow_imports_for_stubs = True