diff --git a/cmake/ProjectsTagsStable.cmake b/cmake/ProjectsTagsStable.cmake
index cdcd43062..6aece1a34 100644
--- a/cmake/ProjectsTagsStable.cmake
+++ b/cmake/ProjectsTagsStable.cmake
@@ -16,6 +16,6 @@ set_tag(casadi-matlab-bindings_TAG v3.6.3.0)
 
 # Robotology projects
 set_tag(YCM_TAG master)
-set_tag(YARP_TAG yarp-3.8)
-set_tag(yarp-matlab-bindings_TAG yarp-3.8)
+set_tag(YARP_TAG yarp-3.9)
+set_tag(yarp-matlab-bindings_TAG yarp-3.9)
 set_tag(gym-ignition_TAG v1.3.1)
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 50a16f3da..0622565b0 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -30,7 +30,7 @@ repositories:
   YARP:
     type: git
     url: https://github.com/robotology/yarp.git
-    version: v3.8.1
+    version: v3.9.0
   ICUB:
     type: git
     url: https://github.com/robotology/icub-main.git
@@ -58,7 +58,7 @@ repositories:
   yarp-matlab-bindings:
     type: git
     url: https://github.com/robotology/yarp-matlab-bindings.git
-    version: v3.8.0
+    version: v3.9.0
   RobotTestingFramework:
     type: git
     url: https://github.com/robotology/robot-testing-framework.git