diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9d78beabf..3ceb7d765 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,7 +16,7 @@ find_package(gz-cmake3 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX pre4)
+gz_configure_project(VERSION_SUFFIX)
 
 #============================================================================
 # Set project-specific options
diff --git a/Changelog.md b/Changelog.md
index b89ddbab6..165497ca6 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,6 +1,9 @@
 ## Gazebo Physics 7.x
 
-### Gazebo Physics 7.x.x (202X-XX-XX)
+### Gazebo Physics 7.0.0 (2023-09-29)
+
+1. dartsim: Fix sign convention error with contact surface motion velocities
+    * [Pull request #556](https://github.com/gazebosim/gz-physics/pull/556)
 
 1. Make dartsim/World.hh header private
     * [Pull request #551](https://github.com/gazebosim/gz-physics/pull/551)