diff --git a/CMakeLists.txt b/CMakeLists.txt
index 527e6cda..eef3b107 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-transport13 VERSION 13.3.0)
+project(gz-transport13 VERSION 13.4.0)
 
 #============================================================================
 # Find gz-cmake
diff --git a/Changelog.md b/Changelog.md
index c6baf50f..2cd0fcdb 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,10 @@
 ## Gazebo Transport 13.X
 
+### Gazebo Transport 13.4.0 (2024-06-18)
+
+1. Add frequency to topic CLI.
+    * [Pull request #503](https://github.com/gazebosim/gz-transport/pull/503)
+
 ### Gazebo Transport 13.3.0 (2024-06-05)
 
 1. Adding option to ignore local messages
diff --git a/package.xml b/package.xml
index 59cdd62a..79f017dc 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>gz-transport13</name>
-  <version>13.3.0</version>
+  <version>13.4.0</version>
   <description>Gazebo Transport: Provides fast and efficient asynchronous message passing, services, and data logging.</description>
   <maintainer email="caguero@openrobotics.org">Carlos Agüero</maintainer>
   <license>Apache License 2.0</license>