diff --git a/CMakeLists.txt b/CMakeLists.txt
index cea074c65..1f8ed5f32 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-math6 VERSION 6.9.3)
+project(ignition-math6 VERSION 6.10.0)
 
 #============================================================================
 # Find ignition-cmake
@@ -16,7 +16,7 @@ find_package(ignition-cmake2 2.8.0 REQUIRED)
 #============================================================================
 set (c++standard 17)
 set (CMAKE_CXX_STANDARD 17)
-ign_configure_project(VERSION_SUFFIX pre2)
+ign_configure_project(VERSION_SUFFIX)
 
 #============================================================================
 # Set project-specific options
diff --git a/Changelog.md b/Changelog.md
index e27581a16..9b059ce07 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -2,7 +2,7 @@
 
 ## Ignition Math 6.x.x
 
-## Ignition Math 6.9.3 (2022-01-XX)
+## Ignition Math 6.10.0 (2022-01-26)
 
 1. Use const instead of constexpr in Ellipsoid constructor
     * [Pull request #366](https://github.com/ignitionrobotics/ign-math/pull/366)
@@ -49,6 +49,7 @@
         * [Pull request #337](https://github.com/ignitionrobotics/ign-math/pull/337)
     1. PID
         * [Pull request #323](https://github.com/ignitionrobotics/ign-math/pull/323)
+        * [Pull request #361](https://github.com/ignitionrobotics/ign-math/pull/361)
     1. Temperature
         * [Pull request #330](https://github.com/ignitionrobotics/ign-math/pull/330)
     1. DiffDriveOdometry (with examples)
@@ -86,6 +87,7 @@
         * [Pull request #317](https://github.com/ignitionrobotics/ign-math/pull/317)
     1. Quaternion
         * [Pull request #324](https://github.com/ignitionrobotics/ign-math/pull/324)
+        * [Pull request #361](https://github.com/ignitionrobotics/ign-math/pull/361)
     1. StopWatch
         * [Pull request #319](https://github.com/ignitionrobotics/ign-math/pull/319)
     1. RollingMean