diff --git a/pyproject.toml b/pyproject.toml
index 00d20917b92b..58a13f292f2c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -139,7 +139,7 @@ version = ">=1.19.2,<1.22.0"
 python = "~=3.7.0"
 
 [[tool.poetry.dependencies.numpy]]
-version = ">=1.19.2,<1.24.0"
+version = ">=1.19.2,<1.25.0"
 python = ">=3.8,<3.11"
 
 [[tool.poetry.dependencies.scipy]]
diff --git a/rasa/utils/tensorflow/model_data.py b/rasa/utils/tensorflow/model_data.py
index b56acc3601f5..089283d9fa7d 100644
--- a/rasa/utils/tensorflow/model_data.py
+++ b/rasa/utils/tensorflow/model_data.py
@@ -771,7 +771,7 @@ def balanced_data(self, data: Data, batch_size: int, shuffle: bool) -> Data:
                 for f in features:
                     final_data[key][sub_key].append(
                         FeatureArray(
-                            np.concatenate(np.array(f)),
+                            np.concatenate(np.array(f, dtype=object)),
                             number_of_dimensions=f[0].number_of_dimensions,
                         )
                     )
diff --git a/rasa/utils/tensorflow/model_data_utils.py b/rasa/utils/tensorflow/model_data_utils.py
index cfca7940e1a0..0610734870b8 100644
--- a/rasa/utils/tensorflow/model_data_utils.py
+++ b/rasa/utils/tensorflow/model_data_utils.py
@@ -385,19 +385,19 @@ def _feature_arrays_for_attribute(
     for key, values in _sparse_features.items():
         if consider_dialogue_dimension:
             sparse_features[key] = FeatureArray(
-                np.array(values), number_of_dimensions=4
+                np.array(values, dtype=object), number_of_dimensions=4
             )
         else:
             sparse_features[key] = FeatureArray(
-                np.array([v[0] for v in values]), number_of_dimensions=3
+                np.array([v[0] for v in values], dtype=object), number_of_dimensions=3
             )
 
     for key, values in _dense_features.items():
         if consider_dialogue_dimension:
-            dense_features[key] = FeatureArray(np.array(values), number_of_dimensions=4)
+            dense_features[key] = FeatureArray(np.array(values, dtype=object), number_of_dimensions=4)
         else:
             dense_features[key] = FeatureArray(
-                np.array([v[0] for v in values]), number_of_dimensions=3
+                np.array([v[0] for v in values], dtype=object), number_of_dimensions=3
             )
 
     attribute_to_feature_arrays = {
diff --git a/tests/utils/tensorflow/conftest.py b/tests/utils/tensorflow/conftest.py
index b331e98ac9a4..476b5e6e5709 100644
--- a/tests/utils/tensorflow/conftest.py
+++ b/tests/utils/tensorflow/conftest.py
@@ -21,7 +21,8 @@ async def model_data() -> RasaModelData:
                                 np.random.rand(3, 14),
                                 np.random.rand(1, 14),
                                 np.random.rand(3, 14),
-                            ]
+                            ],
+                            dtype=object,
                         ),
                         number_of_dimensions=3,
                     ),
@@ -43,7 +44,8 @@ async def model_data() -> RasaModelData:
                                 scipy.sparse.csr_matrix(
                                     np.random.randint(5, size=(3, 10))
                                 ),
-                            ]
+                            ],
+                            dtype=object,
                         ),
                         number_of_dimensions=3,
                     ),
@@ -106,7 +108,8 @@ async def model_data() -> RasaModelData:
                                         np.random.randint(5, size=(7, 10))
                                     ),
                                 ],
-                            ]
+                            ],
+                            dtype=object,
                         ),
                         number_of_dimensions=4,
                     ),
@@ -132,7 +135,8 @@ async def model_data() -> RasaModelData:
                                     np.random.rand(1, 14),
                                     np.random.rand(7, 14),
                                 ],
-                            ]
+                            ],
+                            dtype=object,
                         ),
                         number_of_dimensions=4,
                     ),
@@ -148,7 +152,8 @@ async def model_data() -> RasaModelData:
                                 np.random.randint(2, size=(3, 10)),
                                 np.random.randint(2, size=(1, 10)),
                                 np.random.randint(2, size=(3, 10)),
-                            ]
+                            ],
+                            dtype=object,
                         ),
                         number_of_dimensions=3,
                     )
@@ -167,7 +172,8 @@ async def model_data() -> RasaModelData:
                                 np.array([[0], [1], [1]]),
                                 np.array([[0], [1]]),
                                 np.array([[0], [0], [0]]),
-                            ]
+                            ],
+                            dtype=object,
                         ),
                         number_of_dimensions=3,
                     )