diff --git a/CHANGELOG.md b/CHANGELOG.md
index 56fd904c7e5..2c81d68b9ad 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+## [3.1.0] - 2020-04-23
+
 ### Added
 - Add the possibility to use `MatrixView` and `Span` as input/output objects for `InverseKinematics` class (https://github.com/robotology/idyntree/pull/822).
 - Add the possibility to get frame trasform from the visualizer, and to use frame/link name in place of indices (https://github.com/robotology/idyntree/pull/849).
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3c2c3ac01ab..b0457fbb0b3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,7 @@
 
 cmake_minimum_required(VERSION 3.16)
 
-project(iDynTree VERSION 3.0.2
+project(iDynTree VERSION 3.1.0
                  LANGUAGES C CXX)
 
 # Disable in source build, unless Eclipse is used