diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8654d0ee..5fe983f5 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]
 
+## [5.6.0] - 2022-10-21
+
 ### Changed
 - Add adaptive_rho, polish and maximum iteration options for `OSQP` block (https://github.com/robotology/wb-toolbox/pull/234#issuecomment-1284136010).
 - Remove deprecated functions from `OSQP` block (https://github.com/robotology/wb-toolbox/pull/234#issuecomment-1284136010).
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e527fed1..bc97d404 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 cmake_minimum_required(VERSION 3.5)
-project(WB-Toolbox LANGUAGES CXX VERSION 5.5.0)
+project(WB-Toolbox LANGUAGES CXX VERSION 5.6.0)
 
 if(WBT_BUILD_DOCS)
     add_subdirectory(doc)