diff --git a/CHANGELOG.md b/CHANGELOG.md
index 899d6a296..c6c492a40 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,8 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 
 ## [Unreleased]
 
+## [4.9.0] - 2023-10-31
+
 ### Changed
 - The `icub_hand_mk5` coupling handler has been refactored, it now requires the group `COUPLING_PARAMS` that allows to differentiate between the coupling mk5.0 and mk5.1(https://github.com/robotology/gazebo-yarp-plugins/pull/662).
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 855b78872..26b539757 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,7 @@ option(GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS "if enabled removes
 
 # Project version
 set(${PROJECT_NAME}_MAJOR_VERSION 4)
-set(${PROJECT_NAME}_MINOR_VERSION 8)
+set(${PROJECT_NAME}_MINOR_VERSION 9)
 set(${PROJECT_NAME}_PATCH_VERSION 0)
 
 set(${PROJECT_NAME}_VERSION