diff --git a/CHANGELOG.md b/CHANGELOG.md
index dc01ac5493..95997ccadd 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,24 @@
 
 ## [Unreleased]
 
+## [2.11.0] - 2024-02-05
+
+### Added
+
+- [mc_rbdyn/GUI] Add helpers to visualize surfaces and convexes (#431)
+- [mc_rtc/GUI] Added RobotMsg: a complete view of the robot state (#425)
+- [mc_rtc] Add path helpers (#431)
+- [utils/RobotVisualizer] Add a new tool to visualize a robot built on mc_rtc GUI (#431)
+
+### Changes
+
+- [mc_rtc/GUI] Send scale vector for visual mesh instead of scalar (#430)
+
+### Fixes
+
+- [mc_rbdyn] Always use default_attitude to initialize the attitude (#424)
+- [mc_tasks] Clarify usage of targetSurface/targetFrame in ImpedanceTask
+
 ## [2.10.0] - 2024-01-17
 
 ### Added
@@ -818,7 +836,8 @@ mc_rtc website and tutorials are now available in [Japanese](https://jrl-umi3218
 
 Initial release
 
-[Unreleased]: https://github.com/jrl-umi3218/mc_rtc/compare/v2.10.0...HEAD
+[Unreleased]: https://github.com/jrl-umi3218/mc_rtc/compare/v2.11.0...HEAD
+[2.11.0]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v2.11.0
 [2.10.0]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v2.10.0
 [2.9.3]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v2.9.3
 [2.9.2]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v2.9.2
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7a7c2ea33f..31baf97749 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,7 +12,7 @@ endif()
 
 set(PROJECT_NAME mc_rtc)
 set(PROJECT_DESCRIPTION mc_rtc)
-set(PROJECT_VERSION 2.10.0)
+set(PROJECT_VERSION 2.11.0)
 set(PROJECT_URL https://github.com/jrl-umi3218/mc_rtc)
 set(PROJECT_DEBUG_POSTFIX "_d")
 set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
diff --git a/debian/changelog b/debian/changelog
index e8aaf5c956..513ee8722f 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,9 @@
+mc-rtc (2.11.0-1debian1) unstable; urgency=medium
+
+  * Upstream update: see CHANGELOG.md
+
+ -- Pierre Gergondet <pierre.gergondet+ppa@gmail.com>  Mon, 05 Feb 2024 13:10:09 +0900
+
 mc-rtc (2.10.0-1debian1) unstable; urgency=medium
 
   * Upstream update: see CHANGELOG.md