diff --git a/rmw_cyclonedds_cpp/CHANGELOG.rst b/rmw_cyclonedds_cpp/CHANGELOG.rst
index 0f8c3b4e..a5a25111 100644
--- a/rmw_cyclonedds_cpp/CHANGELOG.rst
+++ b/rmw_cyclonedds_cpp/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw_cyclonedds_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.2.0 (2024-04-09)
+------------------
 * Add tracepoint for publish/subscribe serialized message (`#485 <https://github.com/ros2/rmw_cyclonedds/issues/485>`_)
   Co-authored-by: eboasson <eb@ilities.com>
 * Contributors: h-suzuki-isp
diff --git a/rmw_cyclonedds_cpp/package.xml b/rmw_cyclonedds_cpp/package.xml
index dfe32e00..72b9c345 100644
--- a/rmw_cyclonedds_cpp/package.xml
+++ b/rmw_cyclonedds_cpp/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>rmw_cyclonedds_cpp</name>
-  <version>2.1.1</version>
+  <version>2.2.0</version>
   <description>Implement the ROS middleware interface using Eclipse CycloneDDS in C++.</description>
 
   <maintainer email="erik.boasson@adlinktech.com">Erik Boasson</maintainer>