diff --git a/rosidl_generator_py/CHANGELOG.rst b/rosidl_generator_py/CHANGELOG.rst
index d85627a5..f41fce03 100644
--- a/rosidl_generator_py/CHANGELOG.rst
+++ b/rosidl_generator_py/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rosidl_generator_py
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.21.0 (2023-12-26)
+-------------------
 * Install compiled libraries only to 'lib' (`#195 <https://github.com/ros2/rosidl_python/issues/195>`_)
 * Contributors: Scott K Logan
 
diff --git a/rosidl_generator_py/package.xml b/rosidl_generator_py/package.xml
index 68dfb73d..af2d25d4 100644
--- a/rosidl_generator_py/package.xml
+++ b/rosidl_generator_py/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rosidl_generator_py</name>
-  <version>0.20.0</version>
+  <version>0.21.0</version>
   <description>Generate the ROS interfaces in Python.</description>
 
   <maintainer email="dharini@openrobotics.org">Dharini Dutia</maintainer>