diff --git a/orocos_kdl/CMakeLists.txt b/orocos_kdl/CMakeLists.txt
index 3a1e4229..a15bd15d 100644
--- a/orocos_kdl/CMakeLists.txt
+++ b/orocos_kdl/CMakeLists.txt
@@ -16,7 +16,7 @@ ENDIF()
 
 PROJECT(orocos_kdl)
 
-SET( KDL_VERSION 1.5.0)
+SET( KDL_VERSION 1.5.1)
 STRING( REGEX MATCHALL "[0-9]+" KDL_VERSIONS ${KDL_VERSION} )
 LIST( GET KDL_VERSIONS 0 KDL_VERSION_MAJOR)
 LIST( GET KDL_VERSIONS 1 KDL_VERSION_MINOR)
diff --git a/orocos_kdl/package.xml b/orocos_kdl/package.xml
index 06b16511..0046b555 100644
--- a/orocos_kdl/package.xml
+++ b/orocos_kdl/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>orocos_kdl</name>
-  <version>1.5.0</version>
+  <version>1.5.1</version>
   <description>
     This package contains a recent version of the Kinematics and Dynamics
     Library (KDL), distributed by the Orocos Project.
diff --git a/python_orocos_kdl/CMakeLists.txt b/python_orocos_kdl/CMakeLists.txt
index c9a53fad..09897cb3 100644
--- a/python_orocos_kdl/CMakeLists.txt
+++ b/python_orocos_kdl/CMakeLists.txt
@@ -6,7 +6,7 @@ if(POLICY CMP0057)
   cmake_policy(SET CMP0057 NEW)  # support IN_LISTS which is required for PyBind11 2.6 and newer
 endif()
 
-project(python_orocos_kdl VERSION 1.5.0)
+project(python_orocos_kdl VERSION 1.5.1)
 
 # find a matching version of orocos_kdl
 find_package(orocos_kdl ${PROJECT_VERSION} EXACT REQUIRED)
diff --git a/python_orocos_kdl/package.xml b/python_orocos_kdl/package.xml
index 1621fda1..d28c64b0 100644
--- a/python_orocos_kdl/package.xml
+++ b/python_orocos_kdl/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>python_orocos_kdl</name>
-  <version>1.5.0</version>
+  <version>1.5.1</version>
   <description>
     This package contains the python bindings PyKDL for the Kinematics and Dynamics
     Library (KDL), distributed by the Orocos Project.