diff --git a/docs/misc/changelog.rst b/docs/misc/changelog.rst
index 99d86c53..caf2bc0e 100644
--- a/docs/misc/changelog.rst
+++ b/docs/misc/changelog.rst
@@ -3,13 +3,15 @@
 Changelog
 ==========
 
-Release 1.6.1a2 (WIP)
+Release 1.6.1 (2022-09-29)
 -------------------------------
 
+**Bug fix release**
+
 Breaking Changes:
 ^^^^^^^^^^^^^^^^^
 - Fixed the issue that ``predict`` does not always return action as ``np.ndarray`` (@qgallouedec)
-- Upgraded to Stable-Baselines3 >= 1.6.1a2
+- Upgraded to Stable-Baselines3 >= 1.6.1
 
 
 New Features:
diff --git a/sb3_contrib/version.txt b/sb3_contrib/version.txt
index 51cf83a1..9c6d6293 100644
--- a/sb3_contrib/version.txt
+++ b/sb3_contrib/version.txt
@@ -1 +1 @@
-1.6.1a2
+1.6.1
diff --git a/setup.py b/setup.py
index 7b3ab989..8d854871 100644
--- a/setup.py
+++ b/setup.py
@@ -65,7 +65,7 @@
     packages=[package for package in find_packages() if package.startswith("sb3_contrib")],
     package_data={"sb3_contrib": ["py.typed", "version.txt"]},
     install_requires=[
-        "stable_baselines3>=1.6.1a2",
+        "stable_baselines3>=1.6.1",
     ],
     description="Contrib package of Stable Baselines3, experimental code.",
     author="Antonin Raffin",