diff --git a/CHANGELOG.md b/CHANGELOG.md
index f6f8a49e..bcfc6723 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+## [2.9.0] - 2023-10-17
+
 ### Fixed
 - [`HumanControlBoard`] Fix attach method (https://github.com/robotology/human-dynamics-estimation/pull/365).
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index dc6c7d8f..7a54b117 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@
 cmake_minimum_required(VERSION 3.5)
 project(HumanDynamicsEstimation
         LANGUAGES CXX
-        VERSION 2.8.0)
+        VERSION 2.9.0)
 
 # =====================
 # PROJECT CONFIGURATION