diff --git a/rclpy/CHANGELOG.rst b/rclpy/CHANGELOG.rst
index d878c622e..24cadacfa 100644
--- a/rclpy/CHANGELOG.rst
+++ b/rclpy/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rclpy
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+5.1.0 (2023-09-07)
+------------------
 * Support to get remapped service name (`#1156 <https://github.com/ros2/rclpy/issues/1156>`_)
 * a couple of typo fixes. (`#1158 <https://github.com/ros2/rclpy/issues/1158>`_)
 * Fix get_type_description service bug and add a unit test (`#1155 <https://github.com/ros2/rclpy/issues/1155>`_)
diff --git a/rclpy/package.xml b/rclpy/package.xml
index cb068795b..ed0ec4d34 100644
--- a/rclpy/package.xml
+++ b/rclpy/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclpy</name>
-  <version>5.0.1</version>
+  <version>5.1.0</version>
   <description>Package containing the Python client.</description>
 
   <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>