diff --git a/CHANGELOG.md b/CHANGELOG.md
index d053e8a1e90776e40eade8d204bbf74dc743b4ec..65f25ba64df2b5c68af126f3fb68b016c3c4c253 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+## [3.1.2] - 2023-11-09
+
 ### Added
 - Support Python 3.12 ([#391](https://github.com/stack-of-tasks/eigenpy/pull/391))