diff --git a/kdl_parser/CHANGELOG.rst b/kdl_parser/CHANGELOG.rst
index 909b3b5..bcb3c0a 100644
--- a/kdl_parser/CHANGELOG.rst
+++ b/kdl_parser/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package kdl_parser
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.10.0 (2023-04-28)
+-------------------
 
 2.9.0 (2023-02-13)
 ------------------
diff --git a/kdl_parser/package.xml b/kdl_parser/package.xml
index 4fdf513..aff8d5a 100644
--- a/kdl_parser/package.xml
+++ b/kdl_parser/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>kdl_parser</name>
-  <version>2.9.0</version>
+  <version>2.10.0</version>
   <description>
    The Kinematics and Dynamics Library (KDL) defines a tree structure
    to represent the kinematic and dynamic parameters of a robot