diff --git a/rmw/CHANGELOG.rst b/rmw/CHANGELOG.rst
index ea6c902f..c7111a6c 100644
--- a/rmw/CHANGELOG.rst
+++ b/rmw/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+7.3.0 (2023-12-26)
+------------------
 * Switch to target_link_libraries. (`#361 <https://github.com/ros2/rmw/issues/361>`_)
 * Remove unnecessary c++14 flag. (`#360 <https://github.com/ros2/rmw/issues/360>`_)
 * Contributors: Chris Lalancette
diff --git a/rmw/package.xml b/rmw/package.xml
index 28740d9d..4d988328 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>7.2.2</version>
+  <version>7.3.0</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 0dae6982..f72be249 100644
--- a/rmw_implementation_cmake/CHANGELOG.rst
+++ b/rmw_implementation_cmake/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw_implementation_cmake
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+7.3.0 (2023-12-26)
+------------------
 
 7.2.2 (2023-11-06)
 ------------------
diff --git a/rmw_implementation_cmake/package.xml b/rmw_implementation_cmake/package.xml
index caf68d27..bef9d159 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>7.2.2</version>
+  <version>7.3.0</version>
   <description>
     CMake functions which can discover and enumerate available implementations.
   </description>