diff --git a/CHANGELOG.md b/CHANGELOG.md
index dd8f323549..0dfaf5c066 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+## [2.0.2] - 2023-12-07
+
 * Added nu, ng, and nh setters for Python bindings in https://github.com/loco-3d/crocoddyl/pull/1192
 * Added CHANGELOG.md in https://github.com/loco-3d/crocoddyl/pull/1188
 * Supported nu==0 in actuation models in https://github.com/loco-3d/crocoddyl/pull/1188
@@ -276,7 +278,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 Initial release
 
-[Unreleased]: https://github.com/loco-3d/crocoddyl/compare/v2.0.1...HEAD
+[Unreleased]: https://github.com/loco-3d/crocoddyl/compare/v2.0.2...HEAD
+[2.0.2]: https://github.com/loco-3d/crocoddyl/compare/v2.0.1...v2.0.2
 [2.0.1]: https://github.com/loco-3d/crocoddyl/compare/v2.0.0...v2.0.1
 [2.0.0]: https://github.com/loco-3d/crocoddyl/compare/v1.9.0...v2.0.0
 [1.8.0]: https://github.com/loco-3d/crocoddyl/compare/v1.7.0...v1.8.0