diff --git a/CHANGELOG.md b/CHANGELOG.md
index bd9e4f2da7..4122122912 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,6 +17,7 @@ All notable changes to this project are documented in this file.
 - Implement inequality operator for the `PlannedContact` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/750)
 - Finalize `RobotDynamicsEstimator` library and add complete library test (https://github.com/ami-iit/bipedal-locomotion-framework/pull/744)
 - Add Python bindings for `RobotDynamicsEstimator` library (https://github.com/ami-iit/bipedal-locomotion-framework/pull/755)
+- Implement `RobotDynamicsEstimatorDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/756)
 
 ### Changed
 - Remove the possibility to disable the telemetry in `System::AdvanceableRunner` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/726)