diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index d459deb..433a7ad 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package micro_ros_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.0.0 (2023-06-06)
+------------------
 
 1.0.0 (2021-08-30)
 ------------------
diff --git a/package.xml b/package.xml
index b8fd88c..2cbcaf0 100644
--- a/package.xml
+++ b/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>micro_ros_msgs</name>
-  <version>1.0.0</version>
+  <version>4.0.0</version>
   <description>Definitions for the ROS 2 msgs entities information used by micro-ROS to leverage its functionality to the same level as ROS 2, by means of a dedicated graph manager</description>
   <maintainer email="josesantoniomoralparras@eprosima.com">Jose Antonio Moral</maintainer>
   <license>Apache License 2.0</license>