diff --git a/.github/workflows/audit.yml b/.github/workflows/audit.yml
index 295488e2..7da8da9b 100644
--- a/.github/workflows/audit.yml
+++ b/.github/workflows/audit.yml
@@ -31,8 +31,9 @@ jobs:
     - name: Bootstrap
       run: npm run bootstrap
 
-    - name: audit tools #disabled while we wait for https://github.com/actions/toolkit/issues/539
-      run: npm audit --audit-level=moderate
+    - name: audit tools
+      # `|| npm audit` to pretty-print the output if vulnerabilies are found after filtering.
+      run: npm audit --audit-level=moderate --json | scripts/audit-allow-list || npm audit --audit-level=moderate
 
     - name: audit packages
       run: npm run audit-all
diff --git a/package-lock.json b/package-lock.json
index 526e751c..078409f7 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -13828,9 +13828,9 @@
       }
     },
     "normalize-url": {
-      "version": "3.3.0",
-      "resolved": "https://registry.npmjs.org/normalize-url/-/normalize-url-3.3.0.tgz",
-      "integrity": "sha512-U+JJi7duF1o+u2pynbp2zXDW2/PADgC30f0GsHZtRh+HOcXHnw137TrNlyxxRvWW5fjKd3bcLHPxofWuCjaeZg==",
+      "version": "6.0.1",
+      "resolved": "https://registry.npmjs.org/normalize-url/-/normalize-url-6.0.1.tgz",
+      "integrity": "sha512-VU4pzAuh7Kip71XEmO9aNREYAdMHFGTVj/i+CaTImS8x0i1d3jUZkXhqluy/PRgjPLMgsLQulYY3PJ/aSbSjpQ==",
       "dev": true
     },
     "npm-bundled": {
@@ -14487,13 +14487,13 @@
       }
     },
     "parse-url": {
-      "version": "5.0.2",
-      "resolved": "https://registry.npmjs.org/parse-url/-/parse-url-5.0.2.tgz",
-      "integrity": "sha512-Czj+GIit4cdWtxo3ISZCvLiUjErSo0iI3wJ+q9Oi3QuMYTI6OZu+7cewMWZ+C1YAnKhYTk6/TLuhIgCypLthPA==",
+      "version": "5.0.3",
+      "resolved": "https://registry.npmjs.org/parse-url/-/parse-url-5.0.3.tgz",
+      "integrity": "sha512-nrLCVMJpqo12X8uUJT4GJPd5AFaTOrGx/QpJy3HNcVtq0AZSstVIsnxS5fqNPuoqMUs3MyfBoOP6Zvu2Arok5A==",
       "dev": true,
       "requires": {
         "is-ssh": "^1.3.0",
-        "normalize-url": "^3.3.0",
+        "normalize-url": "^6.0.1",
         "parse-path": "^4.0.0",
         "protocols": "^1.4.0"
       }
@@ -16416,9 +16416,9 @@
       "dev": true
     },
     "trim-newlines": {
-      "version": "3.0.0",
-      "resolved": "https://registry.npmjs.org/trim-newlines/-/trim-newlines-3.0.0.tgz",
-      "integrity": "sha512-C4+gOpvmxaSMKuEf9Qc134F1ZuOHVXKRbtEflf4NTtuuJDEIJ9p5PXsalL8SkeRw+qit1Mo+yuvMPAKwWg/1hA==",
+      "version": "3.0.1",
+      "resolved": "https://registry.npmjs.org/trim-newlines/-/trim-newlines-3.0.1.tgz",
+      "integrity": "sha512-c1PTsA3tYrIsLGkJkzHF+w9F2EyxfXGo4UyJc4pFL++FMjnq0HJS69T3M7d//gKrFKwy429bouPescbjecU+Zw==",
       "dev": true
     },
     "trim-off-newlines": {
diff --git a/scripts/audit-allow-list b/scripts/audit-allow-list
new file mode 100755
index 00000000..761b9a2c
--- /dev/null
+++ b/scripts/audit-allow-list
@@ -0,0 +1,89 @@
+#!/usr/bin/env node
+
+/*
+This script takes the output of npm audit --json from stdin
+and writes a filtered version to stdout.
+The filtered version will have the entries listed in `AUDIT_ALLOW_LIST` removed.
+Specifically, each property of `vulnerabilities` in the input is matched by name in the allow list.
+
+Sample output of `npm audit --json` (NPM v6):
+
+{
+  "actions": [
+    {
+      "action": "review",
+      "module": "trim-newlines",
+      "resolves": [
+        {
+          "id": 1753,
+          "path": "lerna>@lerna/publish>@lerna/version>@lerna/conventional-commits>conventional-changelog-core>get-pkg-repo>meow>trim-newlines",
+          "dev": true,
+          "optional": false,
+          "bundled": false
+        }
+      ]
+    }
+  ],
+  // Other properties ...
+}
+
+
+The reason we have this script is that there may be low-severity or unexploitable vulnerabilities
+that have not yet been fixed in newer versions of the package.
+
+Note: if we update to NPM v7, we will have to change this script because the `npm audit` output will be different.
+See commit 935647112d96fa5cf82e61314f7135376d24f291 in https://github.com/actions/toolkit/pull/846.
+*/
+
+'use strict'
+const fs = require('fs')
+
+const USAGE = "Usage: npm audit --json | scripts/audit-allow-list"
+
+// To add entires to the allow list:
+//   - Run `npm audit --json`
+//   - Copy `path` from each `actions[k].resolves` you want to allow
+//   - Fill in the `advisoryUrl` and `justification` (these are just for documentation)
+const AUDIT_ALLOW_LIST = [
+  {
+    path: "lerna>@lerna/publish>@lerna/version>@lerna/conventional-commits>conventional-changelog-core>get-pkg-repo>meow>trim-newlines",
+    advisoryUrl: "https://www.npmjs.com/advisories/1753",
+    justification: "dependency of lerna (dev only); low severity"
+  },
+  {
+    path: "lerna>@lerna/version>@lerna/conventional-commits>conventional-changelog-core>get-pkg-repo>meow>trim-newlines",
+    advisoryUrl: "https://www.npmjs.com/advisories/1753",
+    justification: "dependency of lerna (dev only); low severity"
+  }
+]
+
+/**
+ * @param audits - JavaScript object matching the schema of `npm audit --json`
+ * @param allowedPaths - List of dependency paths to exclude from the audit
+*/
+function filterVulnerabilities(audits, allowedPaths) {
+  const vulnerabilities = audits.actions.flatMap(x => x.resolves)
+  return vulnerabilities.filter(x => !allowedPaths.includes(x.path))
+}
+
+const input = fs.readFileSync("/dev/stdin", "utf-8")
+if (input === "") {
+  console.error(USAGE)
+  process.exit(1)
+}
+
+const audits = JSON.parse(input)
+const allowedPaths = AUDIT_ALLOW_LIST.map(x => x.path)
+// This function assumes `audits` has the right structure.
+// Just let the error terminate the process if the input doesn't match the schema.
+const remainingVulnerabilities = filterVulnerabilities(audits, allowedPaths)
+
+// `npm audit` will return exit code 1 if it finds vulnerabilities.
+// This script should do the same.
+const numVulnerabilities = remainingVulnerabilities.length
+if (numVulnerabilities > 0) {
+  const pluralized = numVulnerabilities === 1 ? "y" : "ies"
+  console.log(`Found ${numVulnerabilities} unrecognized vulnerabilit${pluralized} from \`npm audit\`:`)
+  console.log(JSON.stringify(remainingVulnerabilities, null, 2))
+  process.exit(1)
+}
\ No newline at end of file