diff --git a/Changelog.md b/Changelog.md
index a5685c2b70f87..bde5052f3580a 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,8 @@
 ### Version 5.1.5 (201X-XX-XX)
 
+1. Increase minimum required Ipopt version to 3.11.9
+    * [Pull request #800](https://github.com/dartsim/dart/pull/800)
+
 1. Added support of urdfdom_headers 1.0 for DART 5.1 (backport of [#766](https://github.com/dartsim/dart/pull/766))
     * [Pull request #799](https://github.com/dartsim/dart/pull/799)