diff --git a/CMakeLists.txt b/CMakeLists.txt
index a42f9761..49ea6454 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-msgs5 VERSION 5.9.0)
+project(ignition-msgs5 VERSION 5.10.0)
 
 #============================================================================
 # Find ignition-cmake
diff --git a/Changelog.md b/Changelog.md
index 99b94d9d..591b9f14 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,28 @@
 ## Ignition Msgs 5.x
 
+### Ignition Msgs 5.10.0 (2022-07-18)
+
+1. Add entity wrench message
+    * [Pull request #274](https://github.com/gazebosim/gz-msgs/pull/274)
+
+1. Ignition -> Gazebo
+    * [Pull request #273](https://github.com/gazebosim/gz-msgs/pull/273)
+
+1. Add ACTOR and WORLD types to entity
+    * [Pull request #275](https://github.com/gazebosim/gz-msgs/pull/275)
+
+1. Bash completion for flags
+    * [Pull request #254](https://github.com/gazebosim/gz-msgs/pull/254)
+
+1. Remove dead files
+    * [Pull request #255](https://github.com/gazebosim/gz-msgs/pull/255)
+
+1. Fix typo REGRESION/REGRESSION
+    * [Pull request #247](https://github.com/gazebosim/gz-msgs/pull/247)
+
+1. Generator: Add missing std namespace to string arguments
+    * [Pull request #242](https://github.com/gazebosim/gz-msgs/pull/242)
+
 ### Ignition Msgs 5.9.0 (2022-03-16)
 
 1. Backport NavSat message for ROS bridge compatibility
@@ -339,4 +362,3 @@
 
 1. Add real\_time\_factor field to WorldStatistics
     * [BitBucket pull request 67](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-msgs/pull-requests/67)
-