Context. Differential rotation has a strong influence on stellar internal dynamics and evolution, notably by triggering hydrodynamical instabilities, by interacting with the magnetic field, and more generally by inducing transport of angular momentum and chemical elements. Moreover, it modifies the way waves propagate in stellar interiors and thus the frequency spectrum of these waves, the regions they probe, and the transport they generate. Aims. We investigate the impact of a general differential rotation (both in radius and latitude) on the propagation of axisymmetric gravito-inertial waves. Methods. We use a small-wavelength approximation to obtain a local dispersion relation for these waves. We then describe the propagation of waves th...