diff --git a/rmw_cyclonedds_cpp/CHANGELOG.rst b/rmw_cyclonedds_cpp/CHANGELOG.rst
index f0aedbe8..ebaeda35 100644
--- a/rmw_cyclonedds_cpp/CHANGELOG.rst
+++ b/rmw_cyclonedds_cpp/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rmw_cyclonedds_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.1.1 (2024-03-28)
+------------------
 * Remove a bunch of unnecessary macros. (`#482 <https://github.com/ros2/rmw_cyclonedds/issues/482>`_)
 * compare string contents but string pointer addresses. (`#481 <https://github.com/ros2/rmw_cyclonedds/issues/481>`_)
 * Contributors: Chris Lalancette, Tomoya Fujita
diff --git a/rmw_cyclonedds_cpp/package.xml b/rmw_cyclonedds_cpp/package.xml
index 8a789092..dfe32e00 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>2.1.0</version>
+  <version>2.1.1</version>
   <description>Implement the ROS middleware interface using Eclipse CycloneDDS in C++.</description>
 
   <maintainer email="erik.boasson@adlinktech.com">Erik Boasson</maintainer>