diff --git a/CHANGELOG.md b/CHANGELOG.md
new file mode 100644
index 000000000..a95e4fee0
--- /dev/null
+++ b/CHANGELOG.md
@@ -0,0 +1,17 @@
+# Changelog
+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/).
+
+## [3.2.0] - 2019-07-01
+### Added
+- Add `resetSimulation` method to reset simulation state and time time, in the `gazebo_yarp_clock` RPC interface (https://github.com/robotology/gazebo-yarp-plugins/pull/345).
+- Add `resetSimulationState` method to reset simulation state, but not the time, in the `gazebo_yarp_clock` RPC interface (https://github.com/robotology/gazebo-yarp-plugins/pull/424).
+- Add `gazebo_yarp_doublelaser` plugin to simulate a double laser device (https://github.com/robotology/gazebo-yarp-plugins/pull/419).
+- Add `gazebo_yarp_configurationoverride` plugin that can be attached to a model in order to override the [`sdf`](http://sdformat.org/spec) configuration of any other plugin that is attached to the same model (https://github.com/robotology/gazebo-yarp-plugins/pull/401). This plugin is particularly useful to set the initial configuration  of a given model, and is documented in https://github.com/robotology/gazebo-yarp-plugins/blob/v3.2.0/plugins/configurationoverride/README.md . 
+- Add features in `gazebo_yarp_externalwrench` to apply multiple external wrenchs at the same time (https://github.com/robotology/gazebo-yarp-plugins/pull/418) .
+- Add the  `yarpConfigurationString` to configure the YARP plugins with a single `yarpConfigurationString` embedded in the SDF code of the plugin (https://github.com/robotology/gazebo-yarp-plugins/pull/396).
+- Add a ChangeLog document based on the format defined in [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
+
+### Fixed
+- Fix invalid camera parameters in `gazebo_depthCamera` plugin (https://github.com/robotology/gazebo-yarp-plugins/pull/408).
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 02fcbbaa0..6294f8bcf 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 1)
-set(${PROJECT_NAME}_PATCH_VERSION 101)
+set(${PROJECT_NAME}_MINOR_VERSION 2)
+set(${PROJECT_NAME}_PATCH_VERSION 0)
 
 set(${PROJECT_NAME}_VERSION
     ${${PROJECT_NAME}_MAJOR_VERSION}.${${PROJECT_NAME}_MINOR_VERSION}.${${PROJECT_NAME}_PATCH_VERSION})