diff --git a/rmw_cyclonedds_cpp/CHANGELOG.rst b/rmw_cyclonedds_cpp/CHANGELOG.rst
index 45fc2dd4..a6f67e2d 100644
--- a/rmw_cyclonedds_cpp/CHANGELOG.rst
+++ b/rmw_cyclonedds_cpp/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw_cyclonedds_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.1.0 (2024-11-25)
+------------------
 * Drop support for float128. (`#522 <https://github.com/ros2/rmw_cyclonedds/issues/522>`_)
 * Contributors: Chris Lalancette
 
diff --git a/rmw_cyclonedds_cpp/package.xml b/rmw_cyclonedds_cpp/package.xml
index a01a2779..87bc9b62 100644
--- a/rmw_cyclonedds_cpp/package.xml
+++ b/rmw_cyclonedds_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmw_cyclonedds_cpp</name>
-  <version>3.0.3</version>
+  <version>3.1.0</version>
   <description>Implement the ROS middleware interface using Eclipse CycloneDDS in C++.</description>
 
   <maintainer email="erik.boasson@adlinktech.com">Erik Boasson</maintainer>