diff --git a/CHANGELOG.md b/CHANGELOG.md
new file mode 100644
index 0000000..76915c6
--- /dev/null
+++ b/CHANGELOG.md
@@ -0,0 +1,42 @@
+# Change Log
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/)
+and this project adheres to [Semantic Versioning](http://semver.org/).
+
+## [Unreleased]
+
+### Breaking changes
+### Added
+### Fixed
+### Changed
+### Removed
+
+## [v9.4.0] - 2023-09-19
+
+Minor version bump due to re-export of tock-registers dependency (#20)
+
+### Added
+
+- Add register `FAR_EL3` (#11)
+- Add register `ESR_EL3` (#10)
+- Add register `SCTLR_EL3` (#9)
+- Add field `TSC` to register `HCR_EL2` (#17)
+- Add register `CNTKCTL_EL1` (#12)
+- Add registers `APDAKEYHI_EL1`, `APDAKEYLO_EL1`, `APDBKEYHI_EL1`, `APDBKEYLO_EL1`, `APGAKEYHI_EL1`, `APGAKEYLO_EL1`, `APIAKEYHI_EL1`, `APIAKEYLO_EL1`, `APIBKEYHI_EL1`, `APIBKEYLO_EL1` (#14)
+- Add registers `RVBAR_EL1`, `RVBAR_EL2`, `RVBAR_EL3` (#8)
+- Add registers `MPIDR_EL1` (#6)
+- Add registers `TPIDR_EL2` (#7)
+
+### Fixed
+
+- Fix bitwidth of field `BADDR` of register `VTTBR_EL2` (#18)
+
+### Changed
+
+- Re-export of tock-registers dependency (#20)
+- Enable write to registers `ESR_EL1` and `ESR_EL2` (#15)
+
+[Unreleased]: https://github.com/rust-embedded/aarch64-cpu/compare/v9.4.0...HEAD
+[v9.4.0]: https://github.com/rust-embedded/aarch64-cpu/compare/v9.3.1...v9.4.0
diff --git a/Cargo.toml b/Cargo.toml
index a4978b3..965df68 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "aarch64-cpu"
-version = "9.3.1"
+version = "9.4.0"
 authors = ["Andre Richter <andre.o.richter@gmail.com>"]
 description = "Low level access to processors using the AArch64 execution state"
 homepage = "https://github.com/rust-embedded/aarch64-cpu"