diff --git a/CMakeLists.txt b/CMakeLists.txt
index 67aab5f80..6b6601a6f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-physics3 VERSION 3.1.0)
+project(ignition-physics3 VERSION 3.2.0)
 
 #============================================================================
 # Find ignition-cmake
diff --git a/Changelog.md b/Changelog.md
index 46f3b22f2..1561aab1e 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -2,6 +2,62 @@
 
 ### Ignition Physics 3.x.x (20XX-XX-XX)
 
+### Ignition Physics 3.2.0 (2021-04-28)
+
+1. Infrastructure
+    * [Pull request #221](https://github.com/ignitionrobotics/ign-physics/pull/221)
+    * [Pull request #215](https://github.com/ignitionrobotics/ign-physics/pull/215)
+    * [Pull request #211](https://github.com/ignitionrobotics/ign-physics/pull/211)
+    * [Pull request #210](https://github.com/ignitionrobotics/ign-physics/pull/210)
+
+1. Linters
+    * [Pull request #201](https://github.com/ignitionrobotics/ign-physics/pull/201)
+    * [Pull request #154](https://github.com/ignitionrobotics/ign-physics/pull/154)
+
+1. Documentation
+    * [Pull request #164](https://github.com/ignitionrobotics/ign-physics/pull/164)
+    * [Pull request #163](https://github.com/ignitionrobotics/ign-physics/pull/163)
+    * [Pull request #187](https://github.com/ignitionrobotics/ign-physics/pull/187)
+    * [Pull request #162](https://github.com/ignitionrobotics/ign-physics/pull/162)
+    * [Pull request #120](https://github.com/ignitionrobotics/ign-physics/pull/120)
+    * [Pull request #144](https://github.com/ignitionrobotics/ign-physics/pull/144)
+    * [Pull request #131](https://github.com/ignitionrobotics/ign-physics/pull/131)
+    * [Pull request #128](https://github.com/ignitionrobotics/ign-physics/pull/128)
+    * [Pull request #115](https://github.com/ignitionrobotics/ign-physics/pull/115)
+    * [Pull request #104](https://github.com/ignitionrobotics/ign-physics/pull/104)
+    * [Pull request #105](https://github.com/ignitionrobotics/ign-physics/pull/105)
+    * [Pull request #106](https://github.com/ignitionrobotics/ign-physics/pull/106)
+
+1. Add Windows installation
+    * [Pull request #194](https://github.com/ignitionrobotics/ign-physics/pull/194)
+
+1. dartsim-plugin windows build fixes
+    * [Pull request #148](https://github.com/ignitionrobotics/ign-physics/pull/148)
+
+1. [TPE] Skip computing collisions for static objects
+    * [Pull request #181](https://github.com/ignitionrobotics/ign-physics/pull/181)
+
+1. [TPE] Update link pose and velocity
+    * [Pull request #179](https://github.com/ignitionrobotics/ign-physics/pull/179)
+
+1. [TPE] Fix poseDirty getter
+    * [Pull request #182](https://github.com/ignitionrobotics/ign-physics/pull/182)
+
+1. Add restitution coefficient support for bouncing
+    * [Pull request #139](https://github.com/ignitionrobotics/ign-physics/pull/139)
+
+1. Fix compilation with gcc 10.2.0
+    * [Pull request #185](https://github.com/ignitionrobotics/ign-physics/pull/185)
+
+1. Support setting canonical link
+    * [Pull request #142](https://github.com/ignitionrobotics/ign-physics/pull/142)
+
+1. Ignore invalid joint commands
+    * [Pull request #137](https://github.com/ignitionrobotics/ign-physics/pull/137)
+
+1. Fix CONFIG arg in ign_find_package(DART) call
+    * [Pull request #119](https://github.com/ignitionrobotics/ign-physics/pull/119)
+
 ### Ignition Physics 3.1.0 (2020-10-18)
 
 1. Support for slip compliance in the dartsim-plugin.