diff --git a/releases/2021.08.yaml b/releases/2021.08.yaml
index 95b9a60f4..9ce69ad99 100644
--- a/releases/2021.08.yaml
+++ b/releases/2021.08.yaml
@@ -134,11 +134,11 @@ repositories:
   icub-firmware:
     type: git
     url: https://github.com/robotology/icub-firmware.git
-    version: v1.20.0
+    version: v1.21.0
   icub-firmware-build:
     type: git
     url: https://github.com/robotology/icub-firmware-build.git
-    version: v1.20.0
+    version: v1.21.0
   icub-firmware-models:
     type: git
     url: https://github.com/robotology/icub-firmware-models.git