diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9e6350c16..32c31fbc8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-physics7 VERSION 7.0.0)
+project(gz-physics7 VERSION 7.1.0)
 
 #============================================================================
 # Find gz-cmake
diff --git a/Changelog.md b/Changelog.md
index 0b80efede..ee8348745 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,56 @@
 ## Gazebo Physics 7.x
 
+### Gazebo Physics 7.1.0 (2024-03-14)
+
+1. bullet-featherstone: Improve mesh collision stability
+    * [Pull request #600](https://github.com/gazebosim/gz-physics/pull/600)
+
+1. bullet-featherstone: Support nested models
+    * [Pull request #574](https://github.com/gazebosim/gz-physics/pull/574)
+
+1. Garden test cleanup
+    * [Pull request #587](https://github.com/gazebosim/gz-physics/pull/587)
+
+1. Support setting max contacts in dartsim's ODE collision detector
+    * [Pull request #582](https://github.com/gazebosim/gz-physics/pull/582)
+
+1. Get bullet version from cmake instead of API
+    * [Pull request #591](https://github.com/gazebosim/gz-physics/pull/591)
+
+1. Update CI badges in README
+    * [Pull request #583](https://github.com/gazebosim/gz-physics/pull/583)
+
+1. Reduce error to debug messsage for mesh construction
+    * [Pull request #581](https://github.com/gazebosim/gz-physics/pull/581)
+
+1. bullet-featherstone: Set collision spinning friction
+    * [Pull request #579](https://github.com/gazebosim/gz-physics/pull/579)
+
+1. Infrastructure
+    * [Pull request #578](https://github.com/gazebosim/gz-physics/pull/578)
+    * [Pull request #572](https://github.com/gazebosim/gz-physics/pull/572)
+
+1. dartsim: fix handling inertia matrix pose rotation
+    * [Pull request #351](https://github.com/gazebosim/gz-physics/pull/351)
+
+1. bullet-featherstone: fix setting angular velocity
+    * [Pull request #567](https://github.com/gazebosim/gz-physics/pull/567)
+
+1. bullet-featherstone: support off-diagonal inertia
+    * [Pull request #544](https://github.com/gazebosim/gz-physics/pull/544)
+
+1. bullet-featherstone: Fix how links are flattened in  ConstructSdfModel
+    * [Pull request #562](https://github.com/gazebosim/gz-physics/pull/562)
+
+1. Add sample ctest cmds to tutorial
+    * [Pull request #566](https://github.com/gazebosim/gz-physics/pull/566)
+
+1. Add a test to verify behavior of detachable joints
+    * [Pull request #563](https://github.com/gazebosim/gz-physics/pull/563)
+
+1. Use correct link indicies when constructing fixed constraints
+    * [Pull request #530](https://github.com/gazebosim/gz-physics/pull/530)
+
 ### Gazebo Physics 7.0.0 (2023-09-29)
 
 1. dartsim: Fix sign convention error with contact surface motion velocities