diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0f54e544..d3376fa8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-msgs9 VERSION 9.3.0)
+project(gz-msgs9 VERSION 9.4.0)
 
 #============================================================================
 # Find gz-cmake
diff --git a/Changelog.md b/Changelog.md
index bf8a946b..76224d2d 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,13 @@
 ## Gazebo Msgs 9.x
 
+### Gazebo Msgs 9.4.0 (2023-03-10)
+
+1. Support for bazel in garden
+    * [Pull request #325](https://github.com/gazebosim/ign-msgs/pull/325)
+
+1. Add entity wrench map
+    * [Pull request #328](https://github.com/gazebosim/ign-msgs/pull/328)
+
 ### Gazebo Msgs 9.3.0 (2023-02-08)
 
 1. Added airspeed sensor