diff --git a/docs/conf.py b/docs/conf.py
index 6c2593f9f..4f79497c1 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -287,9 +287,9 @@ def configure_doxyfile(
 # built documents.
 #
 # The short X.Y version.
-version = u'2.1.2'
+version = u'2.1.3'
 # The full version, including alpha/beta/rc tags.
-release = u'2.1.2'
+release = u'2.1.3'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
diff --git a/docs/notes/notes.rst b/docs/notes/notes.rst
index a6a458e96..71cbf173e 100644
--- a/docs/notes/notes.rst
+++ b/docs/notes/notes.rst
@@ -1,31 +1,20 @@
 .. _release_notes:
 
-Version 2.1.2
+Version 2.1.3
 =============
 
 This release includes the following **improvements**:
 
-1. Allow fully qualified name in TypeDescriptor.
-1. Use native inter-process on Windows.
-1. Support for GCC 12.
-1. Support of googletest using colcon.
-
-This release also includes the following **bugfixes**:
-
-1. Fixed recovery of shared memory buffers.
-1. Fixed issues in LivelinessManager.
-1. Fixed default multicast locators.
-1. Fixed TCP issues.
-1. Fixed deadlocks and data races.
-1. Fixed deadline issue on volatile DataWriter.
-1. Avoid bad_node_size exception when cross-building.
-1. Fixed order of returned samples on topics with keys.
-1. Allow updating partitions to an empty set.
-1. Suppress OpenSSL 3.0 warnings.
-1. MemberDescriptor fully qualified name.
-1. Fixed history record issues with persistence.
-1. Fixed reconnection to Discovery Server.
-1. Other minor fixes.
+1. Improve rediscovery on lossy environments.
+
+This release includes the following **bugfixes**:
+
+1. Fixed validation on ``ParameterPropertyList_t``.
+2. Fixed `SequenceNumberSet_t` deserialization.
+3. Add python3 dependency to package.xml.
+4. Fix data races when creating DataWriters.
+5. Fix deadlock when removing remote DomainParticipants by expired liveliness when using Security.
+6. Fix communication with asymmetric :ref:`discovery_ignore_flags`.
 
 .. note::
   If you are upgrading from a version older than 1.7.0, it is **required** to regenerate generated source from IDL
@@ -35,6 +24,7 @@ This release also includes the following **bugfixes**:
 Previous versions
 =================
 
+.. include:: previous_versions/v2.1.2.rst
 .. include:: previous_versions/v2.1.1.rst
 .. include:: previous_versions/v2.1.0.rst
 .. include:: previous_versions/v2.0.2.rst
diff --git a/docs/notes/previous_versions/v2.1.2.rst b/docs/notes/previous_versions/v2.1.2.rst
new file mode 100644
index 000000000..fa55cb664
--- /dev/null
+++ b/docs/notes/previous_versions/v2.1.2.rst
@@ -0,0 +1,31 @@
+Version 2.1.2
+^^^^^^^^^^^^^
+
+This release includes the following **improvements**:
+
+1. Allow fully qualified name in TypeDescriptor.
+2. Use native inter-process on Windows.
+3. Support for GCC 12.
+4. Support of googletest using colcon.
+
+This release also includes the following **bugfixes**:
+
+1. Fixed recovery of shared memory buffers.
+2. Fixed issues in LivelinessManager.
+3. Fixed default multicast locators.
+4. Fixed TCP issues.
+5. Fixed deadlocks and data races.
+6. Fixed deadline issue on volatile DataWriter.
+7. Avoid bad_node_size exception when cross-building.
+8. Fixed order of returned samples on topics with keys.
+9. Allow updating partitions to an empty set.
+10. Suppress OpenSSL 3.0 warnings.
+11. MemberDescriptor fully qualified name.
+12. Fixed history record issues with persistence.
+13. Fixed reconnection to Discovery Server.
+14. Other minor fixes.
+
+.. note::
+  If you are upgrading from a version older than 1.7.0, it is **required** to regenerate generated source from IDL
+  files using *fastddsgen*.
+  If you are upgrading from a version older than 1.10.0, regenerating the code is *recommended*.
diff --git a/docs/spelling_wordlist.txt b/docs/spelling_wordlist.txt
index 3945873ca..465ec2a84 100644
--- a/docs/spelling_wordlist.txt
+++ b/docs/spelling_wordlist.txt
@@ -105,6 +105,7 @@ lifecycle
 localhost
 LogTopic
 loopback
+lossy
 lroundl
 macOS
 mandatorily