diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3509ffb7..f3619e4d 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-msgs8 VERSION 8.0.0)
+project(ignition-msgs8 VERSION 8.1.0)
 
 #============================================================================
 # Find ignition-cmake
diff --git a/Changelog.md b/Changelog.md
index 1157562c..934464b2 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,13 @@
 ## Ignition Msgs 8.x
 
+### Ignition Msgs 8.1.0 (2021-11-02)
+
+1. Added WorldControlState message.
+    * [Pull request #190](https://github.com/ignitionrobotics/ign-msgs/pull/190)
+
+1. Fixed trivial typo in command line help message.
+    * [Pull request #191](https://github.com/ignitionrobotics/ign-msgs/pull/191)
+
 ### Ignition Msgs 8.0.0 (2021-09-27)
 
 1. scene.proto: add shadow_caster_material_name