Gravitational wave (GW) events, particularly those connected to the merger of compact objects such as neutron stars, are believed to be the primary source of short gamma-ray bursts. To explore the very high energy (VHE) component of the emission from these events, the H.E.S.S. collaboration has dedicated a substantial effort and observing time to follow up on these events. During the second and third GW observing runs, H.E.S.S. was the first ground-based instrument to observe the GW170817 binary neutron star merger. In addition, H.E.S.S. followed four binary black hole mergers. The data acquired by H.E.S.S. was used to constrain the VHE emission from these events for the first time. H.E.S.S. also monitored the GW170817 source for approximately 50 hours and obtained limits that constrained the magnetic field in the merger remnant to $>$ 24 μG. For the fourth GW observing run (O4) approaches, the H.E.S.S. collaboration has allocated significant observation time to the follow-up of GW events. This contribution provides an overview of the science results derived from the H.E.S.S. follow-up of GW events, a technical overview of the GW follow-up strategies for O4, and an update on H.E.S.S. activities during O4.