diff --git a/point_cloud_transport/CHANGELOG.rst b/point_cloud_transport/CHANGELOG.rst
index 80cc4a0..8e033de 100644
--- a/point_cloud_transport/CHANGELOG.rst
+++ b/point_cloud_transport/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package point_cloud_transport
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+5.1.0 (2024-11-20)
+------------------
 
 5.0.4 (2024-10-03)
 ------------------
diff --git a/point_cloud_transport/package.xml b/point_cloud_transport/package.xml
index c3d1f53..6c5d2d4 100644
--- a/point_cloud_transport/package.xml
+++ b/point_cloud_transport/package.xml
@@ -1,7 +1,7 @@
 <package format="3">
   <name>point_cloud_transport</name>
 
-  <version>5.0.4</version>
+  <version>5.1.0</version>
 
   <description>
     Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.
diff --git a/point_cloud_transport_py/CHANGELOG.rst b/point_cloud_transport_py/CHANGELOG.rst
index 1c53a18..6bd0272 100644
--- a/point_cloud_transport_py/CHANGELOG.rst
+++ b/point_cloud_transport_py/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package point_cloud_transport_py
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+5.1.0 (2024-11-20)
+------------------
 * Remove use of python_cmake_module. (`#63 <https://github.com/ros-perception/point_cloud_transport/issues/63>`_)
 * Contributors: Chris Lalancette
 
diff --git a/point_cloud_transport_py/package.xml b/point_cloud_transport_py/package.xml
index e0ae067..4f934ab 100644
--- a/point_cloud_transport_py/package.xml
+++ b/point_cloud_transport_py/package.xml
@@ -1,7 +1,7 @@
 <package format="3">
   <name>point_cloud_transport_py</name>
 
-  <version>5.0.4</version>
+  <version>5.1.0</version>
 
   <description>Python API for point_cloud_transport</description>