diff --git a/CHANGELOG.md b/CHANGELOG.md
index da096d996..4bb45a6bc 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+## [2.1.0] - 2024-05-31
+
 * Updated black + isort + flake8 to ruff in https://github.com/loco-3d/crocoddyl/pull/1256
 * Exported version for Python in https://github.com/loco-3d/crocoddyl/pull/1254
 * Added pinocchio 3 preliminary support in https://github.com/loco-3d/crocoddyl/pull/1253
@@ -294,7 +296,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 Initial release
 
-[Unreleased]: https://github.com/loco-3d/crocoddyl/compare/v2.0.2...HEAD
+[Unreleased]: https://github.com/loco-3d/crocoddyl/compare/v2.1.0...HEAD
+[2.1.0]: https://github.com/loco-3d/crocoddyl/compare/v2.0.2...v2.1.0
 [2.0.2]: https://github.com/loco-3d/crocoddyl/compare/v2.0.1...v2.0.2
 [2.0.1]: https://github.com/loco-3d/crocoddyl/compare/v2.0.0...v2.0.1
 [2.0.0]: https://github.com/loco-3d/crocoddyl/compare/v1.9.0...v2.0.0