diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5c3254f..b0658b3 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-utils2 VERSION 2.0.0)
+project(gz-utils2 VERSION 2.1.0)
 
 #============================================================================
 # Find gz-cmake
diff --git a/Changelog.md b/Changelog.md
index 9f42a95..8852c4f 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,6 +1,35 @@
 ## Gazebo Utils 2.x
 
-## Gazebo Utils 2.0.0 (20XX-XX-XX)
+## Gazebo Utils 2.1.0 (2023-09-26)
+
+1. Documentation fixes
+    * [Pull request #104](https://github.com/gazebosim/gz-utils/pull/104)
+    * [Pull request #103](https://github.com/gazebosim/gz-utils/pull/103)
+
+1. Infrastructure
+    * [Pull request #102](https://github.com/gazebosim/gz-utils/pull/102)
+    * [Pull request #101](https://github.com/gazebosim/gz-utils/pull/101)
+    * [Pull request #85](https://github.com/gazebosim/gz-utils/pull/85)
+
+1. Extra test macros for ARM32/ARM64
+    * [Pull request #99](https://github.com/gazebosim/gz-utils/pull/99)
+
+1. Add a utility for spawning subprocesses
+    * [Pull request #98](https://github.com/gazebosim/gz-utils/pull/98)
+
+1. Support for bazel in Garden
+    * [Pull request #95](https://github.com/gazebosim/gz-utils/pull/95)
+
+1. Rename COPYING to LICENSE
+    * [Pull request #93](https://github.com/gazebosim/gz-utils/pull/93)
+
+1. Add missing config.hh include to gz headers
+    * [Pull request #90](https://github.com/gazebosim/gz-utils/pull/90)
+
+1. ign -> gz Migrate Ignition headers
+    * [Pull request #84](https://github.com/gazebosim/gz-utils/pull/84)
+
+## Gazebo Utils 2.0.0 (2022-09-22)
 
 1. Improve install instructions
     * [Pull request #80](https://github.com/gazebosim/gz-utils/pull/80)