diff --git a/CMakeLists.txt b/CMakeLists.txt
index fee2db3c7..51d563971 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,7 +27,7 @@ project (sdformat10)
 set (SDF_PROTOCOL_VERSION 1.7)
 
 set (SDF_MAJOR_VERSION 10)
-set (SDF_MINOR_VERSION 3)
+set (SDF_MINOR_VERSION 4)
 set (SDF_PATCH_VERSION 0)
 
 set (SDF_VERSION ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION})
diff --git a/Changelog.md b/Changelog.md
index 7f8d7e95f..faa51c61a 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,6 +1,16 @@
 ## libsdformat 10.X
 
-### libsdformat 10.X.X (202X-XX-XX)
+### libsdformat 10.4.0 (2021-04-06)
+
+1. Added particle emitter.
+    + [Pull request 528](https://github.com/osrf/sdformat/pull/528)
+
+1. Fixed application of <sensor><pose> tags in lumped linkes during URDF
+   conversion.
+    + [Pull request 525](https://github.com/osrf/sdformat/pull/525)
+
+1. Add camera type aliases to docs.
+    + [Pull request 514](https://github.com/osrf/sdformat/pull/514)
 
 ### libsdformat 10.3.0 (2021-02-18)