diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index ace9f44..688d595 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package ur_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.3.3 (2024-10-28)
+------------------
 * Add analog_output_domain_cmd command interface (`#219 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/219>`_)
 * Add a sensor for the TCP pose (backport of `#197 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/197>`_)
 * Add missing state interfaces for get_version service (`#216 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/216>`_)
diff --git a/package.xml b/package.xml
index ef931e3..ef4caf6 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_description</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>
     URDF description for Universal Robots
   </description>