diff --git a/CMakeLists.txt b/CMakeLists.txt
index b6a0558c5b..e85730863b 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-gazebo6 VERSION 6.15.0)
+project(ignition-gazebo6 VERSION 6.16.0)
 set (GZ_DISTRIBUTION "Fortress")
 
 #============================================================================
diff --git a/Changelog.md b/Changelog.md
index 07b126f624..b0ff0eefb0 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,34 @@
 ## Ignition Gazebo 6.x
 
+### Gazebo Sim 6.16.0 (2024-01-12)
+
+1. Allow using plugin file names and environment variables compatible with Garden and later
+    * [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)
+
+1. Update friction parameters for skid steer example
+    * [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
+
+1. Relax pose check in actor no mesh test
+    * [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
+
+1. Fix macOS test failures by registering components in the core library
+    * [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
+
+1. Fix for sensor pointer null when navsat plugin in included in sdf
+    * [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
+
+1. Fix another deadlock in sensors system
+    * [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)
+
+1. Backport component inspector Vector3d width fix
+    * [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
+
+1. Bump Fuel model version in test
+    * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
+
+1. Infrastructure
+    * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
+    * [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
 
 ### Gazebo Sim 6.15.0 (2023-08-16)