diff --git a/gymnasium/vector/async_vector_env.py b/gymnasium/vector/async_vector_env.py
index 78584636d..b6195298d 100644
--- a/gymnasium/vector/async_vector_env.py
+++ b/gymnasium/vector/async_vector_env.py
@@ -410,7 +410,7 @@ class AsyncVectorEnv(VectorEnv):
             )
 
         iter_actions = iterate(self.action_space, actions)
-        for pipe, action in zip(self.parent_pipes, iter_actions):
+        for pipe, action in zip(self.parent_pipes, iter_actions, strict=True):
             pipe.send(("step", action))
         self._state = AsyncState.WAITING_STEP
 
diff --git a/gymnasium/vector/sync_vector_env.py b/gymnasium/vector/sync_vector_env.py
index cb1870d96..1f652b23f 100644
--- a/gymnasium/vector/sync_vector_env.py
+++ b/gymnasium/vector/sync_vector_env.py
@@ -247,7 +247,7 @@ class SyncVectorEnv(VectorEnv):
         actions = iterate(self.action_space, actions)
 
         infos = {}
-        for i, action in enumerate(actions):
+        for i, (action, _) in enumerate(zip(actions, self.envs, strict=True)):
             if self.autoreset_mode == AutoresetMode.NEXT_STEP:
                 if self._autoreset_envs[i]:
                     self._env_obs[i], env_info = self.envs[i].reset()
diff --git a/tests/vector/test_vector_env.py b/tests/vector/test_vector_env.py
index a88bfe5b0..cb29737b0 100644
--- a/tests/vector/test_vector_env.py
+++ b/tests/vector/test_vector_env.py
@@ -317,3 +317,49 @@ def test_partial_reset_failure(vectoriser):
         ),
     ):
         envs.reset(options={"reset_mask": np.array([1.0, 1.0, 0.0])})
+
+
+@pytest.mark.parametrize(
+    "vectoriser",
+    [
+        SyncVectorEnv,
+        AsyncVectorEnv,
+        partial(AsyncVectorEnv, shared_memory=False),
+    ],
+    ids=["Sync", "Async(shared_memory=True)", "Async(shared_memory=False)"],
+)
+def test_action_count_compatibility(vectoriser):
+    """Test that the number of actions is compatible with the number of environments."""
+    num_envs = 4
+    envs = vectoriser(
+        [lambda: gym.make("CartPole-v1") for _ in range(num_envs)],
+        autoreset_mode=AutoresetMode.DISABLED,
+    )
+
+    # Reset the environment
+    envs.reset()
+
+    # Test correct number of actions (should work)
+    correct_actions = envs.action_space.sample()
+    assert len(correct_actions) == num_envs
+
+    # Test with actions that match the number of environments
+    obs, rewards, terminations, truncations, infos = envs.step(correct_actions)
+    assert len(obs) == num_envs
+    assert len(rewards) == num_envs
+    assert len(terminations) == num_envs
+    assert len(truncations) == num_envs
+
+    # Test with too few actions (should raise error)
+    with pytest.raises(ValueError):
+        envs.step(correct_actions[: num_envs - 1])
+
+    # Test with too many actions (should raise error)
+    with pytest.raises(ValueError):
+        envs.step(np.concatenate([correct_actions, correct_actions[:1]]))
+
+    # Test with scalar action (should raise error for vector env)
+    with pytest.raises(TypeError):
+        envs.step(0)
+
+    envs.close()