diff --git a/rosidl_typesupport_c/CHANGELOG.rst b/rosidl_typesupport_c/CHANGELOG.rst
index 428923d..8fcc68c 100644
--- a/rosidl_typesupport_c/CHANGELOG.rst
+++ b/rosidl_typesupport_c/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rosidl_typesupport_c
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.3.1 (2024-06-17)
+------------------
 * Add mechanism to disable workaround for dependency groups (`#157 <https://github.com/ros2/rosidl_typesupport/issues/157>`_)
 * Add 'mimick' label to tests which use Mimick (`#158 <https://github.com/ros2/rosidl_typesupport/issues/158>`_)
 * Contributors: Scott K Logan
diff --git a/rosidl_typesupport_c/package.xml b/rosidl_typesupport_c/package.xml
index a1d834a..db959c4 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>3.3.0</version>
+  <version>3.3.1</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 378e925..674e996 100644
--- a/rosidl_typesupport_cpp/CHANGELOG.rst
+++ b/rosidl_typesupport_cpp/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rosidl_typesupport_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.3.1 (2024-06-17)
+------------------
 * Add mechanism to disable workaround for dependency groups (`#157 <https://github.com/ros2/rosidl_typesupport/issues/157>`_)
 * Contributors: Scott K Logan
 
diff --git a/rosidl_typesupport_cpp/package.xml b/rosidl_typesupport_cpp/package.xml
index cd3c018..1a82e90 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>3.3.0</version>
+  <version>3.3.1</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 f736ac0..d191fde 100644
--- a/rosidl_typesupport_tests/CHANGELOG.rst
+++ b/rosidl_typesupport_tests/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rosidl_typesupport_tests
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.3.1 (2024-06-17)
+------------------
 
 3.3.0 (2024-04-26)
 ------------------
diff --git a/rosidl_typesupport_tests/package.xml b/rosidl_typesupport_tests/package.xml
index a67c08c..01f417e 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>3.3.0</version>
+  <version>3.3.1</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>