diff --git a/rmw/CHANGELOG.rst b/rmw/CHANGELOG.rst
index 07abf433..1bd675db 100644
--- a/rmw/CHANGELOG.rst
+++ b/rmw/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+7.4.0 (2024-04-26)
+------------------
 * Removed warnings - strict-prototypes (`#365 <https://github.com/ros2/rmw/issues/365>`_)
 * Contributors: Alejandro Hernández Cordero
 
diff --git a/rmw/package.xml b/rmw/package.xml
index 4d988328..49c33f2d 100644
--- a/rmw/package.xml
+++ b/rmw/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>rmw</name>
-  <version>7.3.0</version>
+  <version>7.4.0</version>
   <description>Contains the ROS middleware API.</description>
 
   <maintainer email="brandon@openrobotics.org">Brandon Ong</maintainer>
diff --git a/rmw_implementation_cmake/CHANGELOG.rst b/rmw_implementation_cmake/CHANGELOG.rst
index 046f62ae..baa8b843 100644
--- a/rmw_implementation_cmake/CHANGELOG.rst
+++ b/rmw_implementation_cmake/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw_implementation_cmake
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+7.4.0 (2024-04-26)
+------------------
 
 7.3.0 (2023-12-26)
 ------------------
diff --git a/rmw_implementation_cmake/package.xml b/rmw_implementation_cmake/package.xml
index bef9d159..1f6dba5c 100644
--- a/rmw_implementation_cmake/package.xml
+++ b/rmw_implementation_cmake/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>rmw_implementation_cmake</name>
-  <version>7.3.0</version>
+  <version>7.4.0</version>
   <description>
     CMake functions which can discover and enumerate available implementations.
   </description>