diff --git a/CMakeLists.txt b/CMakeLists.txt
index a47d03551..ec2812b3f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,7 @@ set (SDF_PROTOCOL_VERSION 1.7)
 
 set (SDF_MAJOR_VERSION 9)
 set (SDF_MINOR_VERSION 10)
-set (SDF_PATCH_VERSION 0)
+set (SDF_PATCH_VERSION 1)
 
 set (SDF_VERSION ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION})
 set (SDF_VERSION_FULL ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION}.${SDF_PATCH_VERSION})
diff --git a/Changelog.md b/Changelog.md
index 987e159d1..182f69d69 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,26 @@
 ## libsdformat 9.X
 
+### libsdformat 9.10.1 (2024-01-05)
+
+1. URDF->SDF handle links with no inertia or small mass
+    * [Pull request #1238](https://github.com/gazebosim/sdformat/pull/1238)
+
+1. Fix Element::Set method return value
+    * [Pull request #1256](https://github.com/gazebosim/sdformat/pull/1256)
+
+1. Allowing relative paths in URDF
+    * [Pull request #1213](https://github.com/gazebosim/sdformat/pull/1213)
+
+1. Use `File.exist?` for Ruby 3.2 compatibility
+    * [Pull request #1216](https://github.com/gazebosim/sdformat/pull/1216)
+
+1. Infrastructure
+    * [Pull request #1217](https://github.com/gazebosim/sdformat/pull/1217)
+    * [Pull request #1225](https://github.com/gazebosim/sdformat/pull/1225)
+    * [Pull request #1271](https://github.com/gazebosim/sdformat/pull/1271)
+    * [Pull request #1345](https://github.com/gazebosim/sdformat/pull/1345)
+    * [Pull request #1252](https://github.com/gazebosim/sdformat/pull/1252)
+
 ### libsdformat 9.10.0 (2022-11-30)
 
 1. Ign to gz header migration.