diff --git a/examples/quadrotor/BUILD.bazel b/examples/quadrotor/BUILD.bazel
index 9ad47a0a53c4..10ebbcaf1e4e 100644
--- a/examples/quadrotor/BUILD.bazel
+++ b/examples/quadrotor/BUILD.bazel
@@ -24,8 +24,7 @@ filegroup(
     name = "models",
     srcs = [
         ":glob_models",
-        "@drake_models//:skydio_2/skydio_2_1000_poly.mtl",
-        "@drake_models//:skydio_2/skydio_2_1000_poly.obj",
+        "@drake_models//:skydio_2",
     ],
 )
 
diff --git a/examples/quadrotor/quadrotor.urdf b/examples/quadrotor/quadrotor.urdf
index c087bc84cb1e..f5def5d89da8 100644
--- a/examples/quadrotor/quadrotor.urdf
+++ b/examples/quadrotor/quadrotor.urdf
@@ -1,4 +1,7 @@
 <?xml version="1.0"?>
+<!-- This model file is deprecated and should not be used in new code.
+Instead, use the drake_models/skydio_2/quadrotor.urdf.
+TODO(jwnimmer-tri) Delete this on 2024-05-01. -->
 <!-- Mesh file and approximate numbers are from Abe Bachrach at Skdio.  -->
 <robot name="quadrotor">
   <!--
diff --git a/examples/quadrotor/quadrotor_geometry.cc b/examples/quadrotor/quadrotor_geometry.cc
index e86cc4e7c2de..b6cd8b2cf568 100644
--- a/examples/quadrotor/quadrotor_geometry.cc
+++ b/examples/quadrotor/quadrotor_geometry.cc
@@ -44,7 +44,7 @@ QuadrotorGeometry::QuadrotorGeometry(
   multibody::Parser parser(&mbp, scene_graph);
 
   const auto model_instance_indices = parser.AddModelsFromUrl(
-      "package://drake/examples/quadrotor/quadrotor.urdf");
+      "package://drake_models/skydio_2/quadrotor.urdf");
   mbp.Finalize();
 
   // Identify the single quadrotor body and its frame.
diff --git a/examples/quadrotor/quadrotor_plant.h b/examples/quadrotor/quadrotor_plant.h
index 19f0e7dd9c34..1e03067bb24c 100644
--- a/examples/quadrotor/quadrotor_plant.h
+++ b/examples/quadrotor/quadrotor_plant.h
@@ -14,7 +14,7 @@ namespace quadrotor {
 
 /// The Quadrotor - an underactuated aerial vehicle. This version of the
 /// Quadrotor is implemented to match the dynamics of the plant specified in
-/// the `quadrotor.urdf` model file.
+/// the `package://drake_models/skydio_2/quadrotor.urdf` model file.
 ///
 /// @system
 /// name: QuadrotorPlant
diff --git a/examples/quadrotor/run_quadrotor_dynamics.cc b/examples/quadrotor/run_quadrotor_dynamics.cc
index 6978fc1e8b1b..5892d128eca0 100644
--- a/examples/quadrotor/run_quadrotor_dynamics.cc
+++ b/examples/quadrotor/run_quadrotor_dynamics.cc
@@ -37,7 +37,7 @@ class Quadrotor : public systems::Diagram<T> {
         multibody::AddMultibodyPlantSceneGraph(&builder, 0.0);
     multibody::Parser parser(&plant);
     parser.AddModelsFromUrl(
-        "package://drake/examples/quadrotor/quadrotor.urdf");
+        "package://drake_models/skydio_2/quadrotor.urdf");
     parser.AddModelsFromUrl(
         "package://drake/examples/quadrotor/warehouse.sdf");
     plant.Finalize();
diff --git a/examples/quadrotor/test/quadrotor_dynamics_test.cc b/examples/quadrotor/test/quadrotor_dynamics_test.cc
index 3ea0ed9f074e..2dd13e2ca821 100644
--- a/examples/quadrotor/test/quadrotor_dynamics_test.cc
+++ b/examples/quadrotor/test/quadrotor_dynamics_test.cc
@@ -110,7 +110,7 @@ class MultibodyQuadrotor: public Diagram<double> {
     auto owned_plant = std::make_unique<MultibodyPlant<double>>(0.0);
     plant_ = owned_plant.get();
     Parser(plant_).AddModelsFromUrl(
-        "package://drake/examples/quadrotor/quadrotor.urdf");
+        "package://drake_models/skydio_2/quadrotor.urdf");
     plant_->Finalize();
     body_ = &plant_->GetBodyByName("base_link");
     DiagramBuilder<double> builder;
diff --git a/tools/workspace/drake_models/repository.bzl b/tools/workspace/drake_models/repository.bzl
index 46175d6442f8..688ed4b76d38 100644
--- a/tools/workspace/drake_models/repository.bzl
+++ b/tools/workspace/drake_models/repository.bzl
@@ -6,8 +6,8 @@ def drake_models_repository(
     github_archive(
         name = name,
         repository = "RobotLocomotion/models",
-        commit = "db9c78f538fb1cd519098a6d6422c3f179415eb6",
-        sha256 = "f3a630b78671f52412e2b5b54dc4ac26c855a88af8c49df0e2f9a9d36f20b570",  # noqa
+        commit = "d2b82d335c4f19aa9b515b483c9d5e6dff0c8997",
+        sha256 = "6b7390b95bc7ab50c6bbbf05a07efa727965485d71c8c5b34998cfec44dbbc27",  # noqa
         build_file = ":package.BUILD.bazel",
         mirrors = mirrors,
     )