diff --git a/CMakeLists.txt b/CMakeLists.txt
index a4f27393..34b1c6b9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sensors7 VERSION 7.2.0)
+project(gz-sensors7 VERSION 7.3.0)
 
 #============================================================================
 # Find gz-cmake
diff --git a/Changelog.md b/Changelog.md
index dc0d1bfc..abcbdf53 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -2,6 +2,38 @@
 
 ### Gazebo Sensors 7.X.X
 
+### Gazebo Sensors 7.3.0 (2023-09-26)
+
+1. Infrastructure
+    * [Pull request #372](https://github.com/gazebosim/gz-sensors/pull/372)
+    * [Pull request #371](https://github.com/gazebosim/gz-sensors/pull/371)
+
+1. Expose optical frame in CameraSensor so it can be set in DepthCameraSensor
+    * [Pull request #362](https://github.com/gazebosim/gz-sensors/pull/362)
+
+1. Fix CameraSensor to check if element is null before access
+    * [Pull request #361](https://github.com/gazebosim/gz-sensors/pull/361)
+
+1. Support protobuf >= 22
+    * [Pull request #351](https://github.com/gazebosim/gz-sensors/pull/351)
+
+1. Minor cleanup - lint, typos
+    * [Pull request #352](https://github.com/gazebosim/gz-sensors/pull/352)
+    * [Pull request #344](https://github.com/gazebosim/gz-sensors/pull/344)
+
+1. Fix frame_id for depth camera point cloud
+    * [Pull request #350](https://github.com/gazebosim/gz-sensors/pull/350)
+
+1. Add support for bayer images to camera sensor
+    * [Pull request #336](https://github.com/gazebosim/gz-sensors/pull/336)
+
+1. Fix flaky trigger camera test
+    * [Pull request #346](https://github.com/gazebosim/gz-sensors/pull/346)
+
+1. Generate default trigger topic name if empty
+    * [Pull request #343](https://github.com/gazebosim/gz-sensors/pull/343)
+
+
 ### Gazebo Sensors 7.2.0 (2023-04-13)
 
 1. Cleanup resources in CameraSensor destructor