diff --git a/rosidl_typesupport_c/CHANGELOG.rst b/rosidl_typesupport_c/CHANGELOG.rst
index 25e9b79..d08b2a8 100644
--- a/rosidl_typesupport_c/CHANGELOG.rst
+++ b/rosidl_typesupport_c/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rosidl_typesupport_c
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.3.0 (2024-04-26)
+------------------
 * Fixed warnings - strict-prototypes (`#155 <https://github.com/ros2/rosidl_typesupport/issues/155>`_)
 * Contributors: Alejandro Hernández Cordero
 
diff --git a/rosidl_typesupport_c/package.xml b/rosidl_typesupport_c/package.xml
index 22a37a0..2bc7649 100644
--- a/rosidl_typesupport_c/package.xml
+++ b/rosidl_typesupport_c/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>rosidl_typesupport_c</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>Generate the type support for C messages.</description>
 
   <maintainer email="dharini@openrobotics.org">Dharini Dutia</maintainer>
diff --git a/rosidl_typesupport_cpp/CHANGELOG.rst b/rosidl_typesupport_cpp/CHANGELOG.rst
index 7579709..9143ee6 100644
--- a/rosidl_typesupport_cpp/CHANGELOG.rst
+++ b/rosidl_typesupport_cpp/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rosidl_typesupport_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.3.0 (2024-04-26)
+------------------
 
 3.2.1 (2024-03-27)
 ------------------
diff --git a/rosidl_typesupport_cpp/package.xml b/rosidl_typesupport_cpp/package.xml
index 12a798c..efa4292 100644
--- a/rosidl_typesupport_cpp/package.xml
+++ b/rosidl_typesupport_cpp/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>rosidl_typesupport_cpp</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>Generate the type support for C++ messages.</description>
 
   <maintainer email="dharini@openrobotics.org">Dharini Dutia</maintainer>
diff --git a/rosidl_typesupport_tests/CHANGELOG.rst b/rosidl_typesupport_tests/CHANGELOG.rst
index 4968f24..084df6a 100644
--- a/rosidl_typesupport_tests/CHANGELOG.rst
+++ b/rosidl_typesupport_tests/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rosidl_typesupport_tests
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.3.0 (2024-04-26)
+------------------
 
 3.2.1 (2024-03-27)
 ------------------
diff --git a/rosidl_typesupport_tests/package.xml b/rosidl_typesupport_tests/package.xml
index 3bf5c2f..a67c08c 100644
--- a/rosidl_typesupport_tests/package.xml
+++ b/rosidl_typesupport_tests/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>rosidl_typesupport_tests</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>Test rosidl_typesupport_c and rosidl_typesupport_cpp packages</description>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
   <license>Apache License 2.0</license>