diff --git a/CHANGELOG.md b/CHANGELOG.md
index 210428a22..320b89186 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,8 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 
 ## [Unreleased]
 
+## [4.10.0] - 2024-02-29
+
 ### Added
 - The `gazebo_yarp_controlboard` plugin gained support to load at runtime arbitrary couplings specified by a yarp device that exposes the [`yarp::dev::IJointCoupling`](https://github.com/robotology/yarp/blob/v3.9.0/src/libYARP_dev/src/yarp/dev/IJointCoupling.h#L16) interface. The name of the yarp device used to load the coupling is passed via the `device` parameter in the `COUPLING` group. For an example of PR that uses this new feature, check https://github.com/icub-tech-iit/ergocub-software/pull/178 .
 - The `gazebo_yarp_basestate` has been modified to be aligned w.r.t. of plugins in gazebo-yarp-plugins, supporting `disableImplicitNetworkWrapper` and `yarpDeviceName` parameters, and by supporting the use of `gazebo_yarp_robotinterface` plugin (https://github.com/robotology/gazebo-yarp-plugins/pull/675).
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f62a564c7..f9431d13e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,7 @@ option(GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS "if enabled removes
 
 # Project version
 set(${PROJECT_NAME}_MAJOR_VERSION 4)
-set(${PROJECT_NAME}_MINOR_VERSION 9)
+set(${PROJECT_NAME}_MINOR_VERSION 10)
 set(${PROJECT_NAME}_PATCH_VERSION 0)
 
 set(${PROJECT_NAME}_VERSION