Unactivated acyclic internal aliphatic olefins are often found to be unreactive in conventional alkenylation reactions. To address this problem, a cobalt catalyzed allylic selective dehydrogenative Heck reaction with internal aliphatic olefins has been developed. The method is highly regio- and stereoselective, the conditions are mild and a wide variety of functional groups can be tolerated. Remarkably, both internal and terminal aliphatic olefins can be employed, thereby significantly expanding the scope of alkenylation chemistry with aliphatic olefins.