diff --git a/CHANGELOG.md b/CHANGELOG.md
index df1b27fb3..e70730330 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,8 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 
 ## [Unreleased]
 
+## [3.5.1] - 2020-10-05
+
 ### Added
 - Add `velocityControlImplementationType` option to the `VELOCITY_CONTROL` group of the `gazebo_yarp_controlboard` plugin
   configuration. This option permits to switch between `direct_velocity_pid`, that is using a velocity PID for the Velocity Control Mode
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c8888378f..cc17add17 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,7 @@ PROJECT(GazeboYARPPlugins)
 # Project version
 set(${PROJECT_NAME}_MAJOR_VERSION 3)
 set(${PROJECT_NAME}_MINOR_VERSION 5)
-set(${PROJECT_NAME}_PATCH_VERSION 0)
+set(${PROJECT_NAME}_PATCH_VERSION 1)
 
 set(${PROJECT_NAME}_VERSION
     ${${PROJECT_NAME}_MAJOR_VERSION}.${${PROJECT_NAME}_MINOR_VERSION}.${${PROJECT_NAME}_PATCH_VERSION})