diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index be8222e70..818a65920 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -35,10 +35,10 @@ repos:
         # The pre-commit hook only has python, not pyi.
         types: []
         types_or: [python, pyi]
-        # TODO: unify the versions once Numpy 1.26 ships
+        # TODO: unify the versions once Python 3.8 support is dropped
         additional_dependencies: [
           'numpy==1.24.4; python_version<"3.12.0rc1"',
-          'numpy==1.26.0b1; python_version>="3.12.0rc1"'
+          'numpy==1.26.0; python_version>="3.12.0rc1"'
         ]
   - repo: https://github.com/jazzband/pip-tools
     rev: 7.1.0
diff --git a/VERSION.txt b/VERSION.txt
index 1454f6ed4..4d54daddb 100644
--- a/VERSION.txt
+++ b/VERSION.txt
@@ -1 +1 @@
-4.0.1
+4.0.2
diff --git a/doc/changelog.rst b/doc/changelog.rst
index a26080b2c..a6547b191 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -1,6 +1,22 @@
 Changelog
 =========
 
+.. rubric:: 4.0.2
+
+Note that an oversight lead to some of the changes between 4.0.0b1 and 4.0.0
+being omitted from 4.0.1. They are restored in 4.0.2.
+
+- Fix type annotations for :py:class:`spead2.send.UdpStream` and
+  :py:class:`spead2.send.asyncio.UdpStream`.
+- Add more documentation for developers.
+- Remove an old :file:`Makefile.am` that should have been removed in 4.0.0.
+- Remove mocking of spead2 in readthedocs build.
+- Change `.. code::` to `.. code-block::` in documentation.
+- Simplify the implementation of :cpp:class:`!thread_pool_wrapper` and
+  :cpp:class:`!buffer_reader` in Python binding code.
+- Directly use pointer-to-member-functions in Python binding code.
+- Test against numpy 1.26.0 (instead of 1.26.0rc1) on Python 3.12.
+
 .. rubric:: 4.0.1
 
 - Restore dependency on numpy, which was accidentally removed in 4.0.0.
diff --git a/requirements-3.12.txt b/requirements-3.12.txt
index 80709d79d..27d34ebb0 100644
--- a/requirements-3.12.txt
+++ b/requirements-3.12.txt
@@ -12,7 +12,7 @@ netifaces==0.11.0
     # via
     #   -c requirements.txt
     #   -r requirements.in
-numpy==1.26.0b1 ; python_version >= "3.12.0rc1"
+numpy==1.26.0 ; python_version >= "3.12.0rc1"
     # via -r requirements.in
 packaging==23.1
     # via
diff --git a/requirements.in b/requirements.in
index c0006860e..7f8552854 100644
--- a/requirements.in
+++ b/requirements.in
@@ -3,7 +3,7 @@ llvmlite; python_version<"3.12.0rc1"
 netifaces
 numba; python_version<"3.12.0rc1"
 numpy; python_version<"3.12.0rc1"
-numpy==1.26.0b1; python_version>="3.12.0rc1"
+numpy==1.26.0; python_version>="3.12.0rc1"
 pytest
 pytest-asyncio
 pytest-timeout