diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index f49c7315..cf548a8e 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rcutils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+4.0.2 (2021-04-12)
+------------------
 * Declare dependency on libatomic (`#338 <https://github.com/ros2/rcutils/issues/338>`_)
 * Contributors: Scott K Logan
 
diff --git a/package.xml b/package.xml
index b31daba7..52ff72e3 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rcutils</name>
-  <version>4.0.1</version>
+  <version>4.0.2</version>
   <description>Package containing various utility types and functions for C</description>
   <maintainer email="clalancette@openrobotics.org">Chris Lalancette</maintainer>
   <maintainer email="alejandro@openrobotics.org">Alejandro Hernandez Cordero</maintainer>