diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4f2973702..8d1150e5d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,7 +4,7 @@ All notable changes to this project will be documented in this file.
 The format of this document is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 
-## [Unreleased]
+## [3.6.0] - 2021-02-24
 
 ### Added
 - Add `refSpeed` and `refAcceleration` options to the `TRAJECTORY_GENERATION` group of the `gazebo_yarp_controlboard` plugin
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8f9425aa8..597cd0b61 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,8 +7,8 @@ PROJECT(GazeboYARPPlugins)
 
 # Project version
 set(${PROJECT_NAME}_MAJOR_VERSION 3)
-set(${PROJECT_NAME}_MINOR_VERSION 5)
-set(${PROJECT_NAME}_PATCH_VERSION 100)
+set(${PROJECT_NAME}_MINOR_VERSION 6)
+set(${PROJECT_NAME}_PATCH_VERSION 0)
 
 set(${PROJECT_NAME}_VERSION
     ${${PROJECT_NAME}_MAJOR_VERSION}.${${PROJECT_NAME}_MINOR_VERSION}.${${PROJECT_NAME}_PATCH_VERSION})