We prove a semi-global gauge-invariant estimate for the solutions of the characteristic initial value problem associated with the coupled Einstein-Yang-Mills equations. In particular, we prove the existence of a future development of regular initial data on a pair of incoming and outgoing null hypersurfaces emanating from a spacelike topological 2-sphere. This semi-global existence result is to be used in a potential future proof of trapped surface formation in the context of coupled Einstein-Yang-Mills dynamics.