Abstract. Human-induced atmospheric composition changes cause a radiative imbalance at the top-of-atmosphere which is driving global warming. This Earth Energy Imbalance (EEI) is a fundamental metric of climate change. Understanding the heat gain of the Earth system from this accumulated heat – and particularly how much and where the heat is distributed in the Earth system – is fundamental to understanding how this affects warming oceans, atmosphere and land, rising temperatures and sea level, and loss of grounded and floating ice, which are fundamental concerns for society. This study is a Global Climate Observing System (GCOS) concerted international effort to update the Earth heat inventory, and presents an updated international assessment of ocean warming estimates, and new and updated estimates of heat gain in the atmosphere, cryosphere and land over the period 1960–2018. The study obtains a consistent long-term Earth system heat gain over the past 58 years, with a total heat gain of 393 ± 40 ZJ, which is equivalent to a heating rate of 0.42 ± 0.04 W m−2. The majority of the heat gain (89 %) takes place in the global ocean (0–700 m: 53 %; 700–2000 m: 28 %; > 2000 m: 8 %), while it amounts to 6 % for the land heat gain, to 4 % available for the melting of grounded and floating ice, and to 1 % for atmospheric warming. These new estimates indicate a larger contribution of land and ice heat gain (10 % in total) compared to previous estimates (7 %). There is a regime shift of the Earth heat inventory over the past 2 decades, which appears to be predominantly driven by heat sequestration into the deeper layers of the global ocean, and a doubling of heat gain in the atmosphere. However, a major challenge is to reduce uncertainties in the Earth heat inventory, which can be best achieved through the maintenance of the current global climate observing system, its extension into areas of gaps in the sampling, as well as to establish an international framework for concerted multi-disciplinary research of the Earth heat inventory. Earth heat inventory is published at DKRZ (https://www.dkrz.de/) under the doi: https://doi.org/10.26050/WDCC/GCOS_EHI_EXP (von Schuckmann et al., 2020).