diff --git a/CMakeLists.txt b/CMakeLists.txt
index e0b9d4153..3f461381f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-physics4 VERSION 4.0.0)
+project(ignition-physics4 VERSION 4.1.0)
 
 #============================================================================
 # Find ignition-cmake
diff --git a/Changelog.md b/Changelog.md
index 64346add5..04408fc63 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -2,6 +2,15 @@
 
 ### Ignition Physics 4.x.x (20XX-XX-XX)
 
+### Ignition Physics 4.1.0 (2021-05-01)
+
+1. [TPE] Update link pose and velocity
+    * [Pull request #179](https://github.com/ignitionrobotics/ign-physics/pull/179)
+
+1. Infrastructure
+    * [Pull request #221](https://github.com/ignitionrobotics/ign-physics/pull/221)
+    * [Pull request #215](https://github.com/ignitionrobotics/ign-physics/pull/215)
+
 ### Ignition Physics 4.0.0 (2021-03-30)
 
 1. Remove nested models