diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 4c9947e..1a9dfa9 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package message_filters
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+5.0.0 (2024-06-17)
+------------------
 * fix: fallback Time used incorrect clock (`#118 <https://github.com/ros2/message_filters/issues/118>`_)
 * Adding explicit constructors (`#129 <https://github.com/ros2/message_filters/issues/129>`_)
 * Deprecated qos_profile in Subscriber (`#127 <https://github.com/ros2/message_filters/issues/127>`_)
diff --git a/package.xml b/package.xml
index fb8b31d..129c6e2 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>message_filters</name>
-  <version>4.12.0</version>
+  <version>5.0.0</version>
   <description>
     A set of ROS 2 message filters which take in messages and may output those messages at a later time, based on the conditions that filter needs met.
   </description>