diff --git a/rclpy/CHANGELOG.rst b/rclpy/CHANGELOG.rst
index 92ec63d25..35fd35876 100644
--- a/rclpy/CHANGELOG.rst
+++ b/rclpy/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rclpy
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+5.3.0 (2023-10-04)
+------------------
 * 1105 parameter event handler (`#1135 <https://github.com/ros2/rclpy/issues/1135>`_)
 * unregister_sigterm_signal_handler should be called. (`#1170 <https://github.com/ros2/rclpy/issues/1170>`_)
 * Handle take failure in wait_for_message (`#1172 <https://github.com/ros2/rclpy/issues/1172>`_)
diff --git a/rclpy/package.xml b/rclpy/package.xml
index 6adc927d5..ac52a6c6b 100644
--- a/rclpy/package.xml
+++ b/rclpy/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclpy</name>
-  <version>5.2.0</version>
+  <version>5.3.0</version>
   <description>Package containing the Python client.</description>
 
   <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>