diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index 478d36d1..399451d8 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -1,6 +1,6 @@
-libignition-cmake3-dev
-libignition-math7-dev
-libignition-tools2-dev
+libgz-cmake3-dev
+libgz-math7-dev
+libgz-tools2-dev
 libprotobuf-dev
 libprotoc-dev
 libtinyxml2-dev
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b4b8a356..54d4e3ab 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -11,7 +11,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@focal
+        uses: gazebo-tooling/action-gz-ci@focal
         with:
           codecov-enabled: true
           cppcheck-enabled: true
@@ -25,4 +25,4 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@jammy
+        uses: gazebo-tooling/action-gz-ci@jammy
diff --git a/.github/workflows/pr-collection-labeler.yml b/.github/workflows/pr-collection-labeler.yml
index 7d7b4e17..38c4fc13 100644
--- a/.github/workflows/pr-collection-labeler.yml
+++ b/.github/workflows/pr-collection-labeler.yml
@@ -8,6 +8,6 @@ jobs:
     steps:
     - name: Add collection labels
       if: github.event.action == 'opened'
-      uses: ignition-tooling/pr-collection-labeler@v1
+      uses: gazebo-tooling/pr-collection-labeler@v1
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/BUILD.bazel b/BUILD.bazel
index 85d9afff..38051404 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -1,7 +1,7 @@
 load(
     "//gz_bazel:build_defs.bzl",
-    "IGNITION_ROOT",
-    "IGNITION_VISIBILITY",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
     "cmake_configure_file",
     "generate_include_header",
     "generate_yaml",
@@ -15,7 +15,7 @@ load(
 )
 
 package(
-    default_visibility = IGNITION_VISIBILITY,
+    default_visibility = GZ_VISIBILITY,
     features = [
         "-parse_headers",
         "-layering_check",
@@ -45,8 +45,8 @@ gz_config_header(
 
 gz_export_header(
     name = "include/gz/msgs/Export.hh",
-    export_base = "IGNITION_MSGS",
-    lib_name = "ignition-msgs",
+    export_base = "GZ_MSGS",
+    lib_name = "gz-msgs",
     visibility = ["//visibility:private"],
 )
 
@@ -127,7 +127,7 @@ cc_library(
     includes = ["include"],
     deps = [
         ":gzmsgs_proto_cc",
-        IGNITION_ROOT + "gz_math",
+        GZ_ROOT + "gz_math",
         "@com_google_protobuf//:protobuf",
         "@tinyxml2",
     ],
@@ -135,7 +135,7 @@ cc_library(
 
 # use shared library only when absolutely needd
 cc_binary(
-    name = "libignition-msgs.so",
+    name = "libgz-msgs.so",
     srcs = [
         "src/gz.cc",
         "src/gz.hh",
@@ -151,11 +151,11 @@ cc_binary(
 [cc_test(
     name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
     srcs = [src],
-    data = [IGNITION_ROOT + "gz_msgs/test:desc/stringmsg.desc"],
+    data = [GZ_ROOT + "gz_msgs/test:desc/stringmsg.desc"],
     deps = [
         ":gz_msgs",
-        IGNITION_ROOT + "gz_math",
-        IGNITION_ROOT + "gz_msgs/test:test_utils",
+        GZ_ROOT + "gz_math",
+        GZ_ROOT + "gz_msgs/test:test_utils",
         "@gtest",
         "@gtest//:gtest_main",
     ],
@@ -171,9 +171,9 @@ cmake_configure_file(
     out = "cmdmsgs.rb",
     cmakelists = ["CMakeLists.txt"],
     defines = [
-        "library_location=libignition-msgs.so",
+        "library_location=libgz-msgs.so",
         "PROJECT_VERSION_FULL=%d.%d.%d" % (PROJECT_MAJOR, PROJECT_MINOR, PROJECT_PATCH),  # noqa
-        "IGN_LIBRARY_NAME=%s" % [PROJECT_NAME],
+        "GZ_LIBRARY_NAME=%s" % [PROJECT_NAME],
     ],
 )
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f8266817..536172eb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,9 +17,7 @@ find_package(gz-cmake3 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(
-  REPLACE_IGNITION_INCLUDE_PATH gz/msgs
-  VERSION_SUFFIX pre1)
+gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options
@@ -30,12 +28,12 @@ gz_configure_project(
 # generator compiled for the target machine cannot be used to generate
 # the C++ code corresponding to the .proto definition. For this scenario,
 # the following two options can be used as follows.
-# First of all, ign-msgs is compiled targeting the host machine, and in the
+# First of all, gz-msgs is compiled targeting the host machine, and in the
 # build targeting the host, the INSTALL_GZ_MSGS_GEN_EXECUTABLE option is
 # enabled:
 # > cmake -DINSTALL_GZ_MSGS_GEN_EXECUTABLE:BOOL=ON ..
 # ensuring that the gz_msgs_gen is installed in
-# <host_install_prefix>/bin/gz_msgs_gen . Then, the same version of ign-msgs
+# <host_install_prefix>/bin/gz_msgs_gen . Then, the same version of gz-msgs
 # can be cross-compiled, and in the cross-compilation build the location of the
 # host gz_msgs_gen is specified via the GZ_MSGS_GEN_EXECUTABLE
 # CMake cache variable:
@@ -44,13 +42,13 @@ gz_configure_project(
 # TODO(CH3): Deprecated. Remove IGN_MSGS CMake variables on tick-tock.
 if(INSTALL_IGN_MSGS_GEN_EXECUTABLE)
   message(WARNING "INSTALL_IGN_MSGS_GEN_EXECUTABLE is deprecated, use INSTALL_GZ_MSGS_GEN_EXECUTABLE instead")
-  set(INSTALL_GZ_MSGS_GEN_EXECUTABLE INSTALL_IGN_MSGS_GEN_EXECUTABLE)
+  set(INSTALL_GZ_MSGS_GEN_EXECUTABLE ${INSTALL_IGN_MSGS_GEN_EXECUTABLE})
 else()
   option(
     INSTALL_GZ_MSGS_GEN_EXECUTABLE
     "Install the gz_msgs_gen executable."
     OFF)
-  set(INSTALL_IGN_MSGS_GEN_EXECUTABLE INSTALL_GZ_MSGS_GEN_EXECUTABLE)
+  set(INSTALL_IGN_MSGS_GEN_EXECUTABLE ${INSTALL_GZ_MSGS_GEN_EXECUTABLE})
 endif()
 
 mark_as_advanced(INSTALL_IGN_MSGS_GEN_EXECUTABLE)
@@ -79,7 +77,7 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======")
 #--------------------------------------
 # Find Protobuf
 set(REQ_PROTOBUF_VER 3)
-gz_find_package(IgnProtobuf
+gz_find_package(GzProtobuf
                  VERSION ${REQ_PROTOBUF_VER}
                  REQUIRED
                  COMPONENTS all
@@ -118,7 +116,7 @@ add_subdirectory(tools)
 #============================================================================
 # TODO: Consider tweaking gz_configure_build() to call add_subdirectory(proto)
 # whenever a proto subdirectory exists. This could be used alongside
-# gz_msgs_protoc to get uniform support for proto messages across all ignition
+# gz_msgs_protoc to get uniform support for proto messages across all Gazebo
 # projects.
 add_subdirectory(proto)
 
diff --git a/Changelog.md b/Changelog.md
index 6d21a97a..f4fce413 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -183,7 +183,7 @@
 1. Support 'has' functionality in particle Emitter.
     * [Pull request 137](https://github.com/gazebosim/gz-msgs/pull/137)
 
-1. Add ignition version of nav_msgs/OccupancyGrid.
+1. Add gz version of nav_msgs/OccupancyGrid.
     * [Pull request 138](https://github.com/gazebosim/gz-msgs/pull/138)
 
 ### Gazebo Msgs 6.3.0 (2021-02-17)
@@ -288,7 +288,7 @@
 
 ### Gazebo Msgs 5.7.0 (2021-03-17)
 
-1. Add ignition version of nav\_msgs/OccupancyGrid (backport #138)
+1. Add gz version of nav\_msgs/OccupancyGrid (backport #138)
     * [Pull request 143](https://github.com/gazebosim/gz-msgs/pull/143)
     * [Pull request 143](https://github.com/gazebosim/gz-msgs/pull/138)
 
@@ -317,12 +317,12 @@
 1. Add Focal CI.
     * [Pull request 73](https://github.com/gazebosim/gz-msgs/pull/73)
 
-1. Include autogenerated code for the ign\_create\_docs function.
+1. Include autogenerated code for the gz\_create\_docs function.
     * [Pull request 76](https://github.com/gazebosim/gz-msgs/pull/76)
     * [Pull request 78](https://github.com/gazebosim/gz-msgs/pull/78)
     * [Pull request 79](https://github.com/gazebosim/gz-msgs/pull/79)
 
-1. Use modern CMake targets when including ignition-math.
+1. Use modern CMake targets when including gz-math.
     * [Pull request 82](https://github.com/gazebosim/gz-msgs/pull/82)
 
 1. Bump versions in readme.
@@ -342,7 +342,7 @@
 
 ### Gazebo Msgs 5.3.0 (2020-05-20)
 
-1. Use modern CMake targets when including ignition-math.
+1. Use modern CMake targets when including gz-math.
     * [Pull request 82](https://github.com/gazebosim/gz-msgs/pull/82)
 
 1. Included autogenerated code to the ign_create_docs function.
diff --git a/api.md.in b/api.md.in
index 218f6857..bb345ae1 100644
--- a/api.md.in
+++ b/api.md.in
@@ -1,6 +1,6 @@
-## Gazebo @IGN_DESIGNATION_CAP@
+## Gazebo @GZ_DESIGNATION_CAP@
 
-Gazebo @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
+Gazebo @GZ_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
 designed to rapidly develop robot and simulation applications. 
 
 ## License
diff --git a/appveyor.yml b/appveyor.yml
index 155973f4..ad31f344 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -11,7 +11,7 @@ environment:
 install:
   - vcpkg install protobuf
   - vcpkg install tinyxml2
-  # ign-cmake
+  # gz-cmake
   - git clone https://github.com/gazebosim/gz-cmake -b main
   - cd gz-cmake
   - md build
@@ -19,7 +19,7 @@ install:
   - cmake .. -DBUILD_TESTING=Off
   - cmake --build . --target INSTALL
   - cd ../..
-  # ign-math
+  # gz-math
   - git clone https://github.com/gazebosim/gz-math -b main
   - cd gz-math
   - md build
diff --git a/conf/CMakeLists.txt b/conf/CMakeLists.txt
index 49497f7a..bb60e426 100644
--- a/conf/CMakeLists.txt
+++ b/conf/CMakeLists.txt
@@ -1,23 +1,23 @@
 # Used only for internal testing.
-set(gz_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/gz/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
+set(gz_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/gz/cmd${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}")
 
 # Generate a configuration file for internal testing.
 # Note that the major version of the library is included in the name.
 # Ex: transport0.yaml
 configure_file(
-  "${IGN_DESIGNATION}.yaml.in"
-    "${CMAKE_BINARY_DIR}/test/conf/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+  "${GZ_DESIGNATION}.yaml.in"
+    "${CMAKE_BINARY_DIR}/test/conf/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
 
 # Used for the installed version.
-set(gz_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/gz/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
+set(gz_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/gz/cmd${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}")
 
 # Generate the configuration file that is installed.
 # Note that the major version of the library is included in the name.
 # Ex: transport0.yaml
 configure_file(
-  "${IGN_DESIGNATION}.yaml.in"
-  "${CMAKE_CURRENT_BINARY_DIR}/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+  "${GZ_DESIGNATION}.yaml.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
 
 # Install the yaml configuration files in an unversioned location.
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml
-  DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/ignition/)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/)
diff --git a/ign_msg_gen.bzl b/gz_msg_gen.bzl
similarity index 100%
rename from ign_msg_gen.bzl
rename to gz_msg_gen.bzl
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 4b2bdd7b..992a1312 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -1,2 +1,2 @@
 add_subdirectory(gz)
-install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})
+install(DIRECTORY ignition DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL})
diff --git a/proto/CMakeLists.txt b/proto/CMakeLists.txt
index 196ade55..86cad236 100644
--- a/proto/CMakeLists.txt
+++ b/proto/CMakeLists.txt
@@ -1,5 +1,5 @@
 install(
   DIRECTORY gz
-  DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}"
+  DESTINATION "${GZ_INCLUDE_INSTALL_DIR_FULL}"
   COMPONENT proto
   FILES_MATCHING PATTERN "*.proto")
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index d994e094..a80cd0cc 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -5,7 +5,7 @@ target_link_libraries(gz_msgs_gen
   protobuf::libprotoc
   protobuf::libprotobuf)
 target_include_directories(gz_msgs_gen PRIVATE ${PROTOBUF_INCLUDE_DIR})
-target_compile_features(gz_msgs_gen PRIVATE ${IGN_CXX_11_FEATURES})
+target_compile_features(gz_msgs_gen PRIVATE ${GZ_CXX_11_FEATURES})
 
 if (UNIX)
   target_link_libraries(gz_msgs_gen pthread)
@@ -13,10 +13,10 @@ endif()
 
 if(INSTALL_GZ_MSGS_GEN_EXECUTABLE)
   set_target_properties(gz_msgs_gen PROPERTIES VERSION ${PROJECT_VERSION_FULL})
-  install(TARGETS gz_msgs_gen DESTINATION ${IGN_BIN_INSTALL_DIR})
+  install(TARGETS gz_msgs_gen DESTINATION ${GZ_BIN_INSTALL_DIR})
 
   # TODO(chapulina) Deprecated. Remove on v10.
-  install(FILES $<TARGET_FILE:gz_msgs_gen> DESTINATION ${IGN_BIN_INSTALL_DIR} RENAME ign_msgs_gen PERMISSIONS OWNER_EXECUTE)
+  install(FILES $<TARGET_FILE:gz_msgs_gen> DESTINATION ${GZ_BIN_INSTALL_DIR} RENAME ign_msgs_gen PERMISSIONS OWNER_EXECUTE)
 endif()
 
 ##################################################
@@ -148,14 +148,14 @@ endif()
 set_source_files_properties(${gen_headers} ${gen_sources} ${gen_ruby_scripts}
   PROPERTIES GENERATED TRUE)
 
-message(STATUS "Installing Ruby messages to ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ruby/ignition/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
-install(FILES ${gen_ruby_scripts} DESTINATION ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ruby/ignition/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR})
+message(STATUS "Installing Ruby messages to ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/ruby/ignition/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}")
+install(FILES ${gen_ruby_scripts} DESTINATION ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/ruby/ignition/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR})
 
-message(STATUS "Installing Ruby messages to ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ruby/gz/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
-install(FILES ${gen_ruby_scripts} DESTINATION ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ruby/gz/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR})
+message(STATUS "Installing Ruby messages to ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/ruby/gz/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}")
+install(FILES ${gen_ruby_scripts} DESTINATION ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/ruby/gz/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR})
 
 gz_install_includes(
-  "${IGN_INCLUDE_INSTALL_DIR_POSTFIX}/gz/${IGN_DESIGNATION}"
+  "${GZ_INCLUDE_INSTALL_DIR_POSTFIX}/gz/${GZ_DESIGNATION}"
   ${gen_headers})
 
 ##################################################
@@ -169,8 +169,8 @@ configure_file (${CMAKE_CURRENT_SOURCE_DIR}/MessageTypes.hh.in
   ${PROJECT_BINARY_DIR}/include/gz/msgs/MessageTypes.hh)
 
 gz_install_includes(
-  "${IGN_INCLUDE_INSTALL_DIR_POSTFIX}/gz/${IGN_DESIGNATION}"
-  "${PROJECT_BINARY_DIR}/include/gz/${IGN_DESIGNATION}/MessageTypes.hh")
+  "${GZ_INCLUDE_INSTALL_DIR_POSTFIX}/gz/${GZ_DESIGNATION}"
+  "${PROJECT_BINARY_DIR}/include/gz/${GZ_DESIGNATION}/MessageTypes.hh")
 
 ##################################################
 # Build the main library
diff --git a/src/Generator.cc b/src/Generator.cc
index d37ef5fc..9fca4a7a 100644
--- a/src/Generator.cc
+++ b/src/Generator.cc
@@ -120,7 +120,7 @@ bool Generator::Generate(const FileDescriptor *_file,
         _generatorContext->OpenForInsert(sourceFilename, "includes"));
     io::Printer printer(output.get(), '$');
 
-    // Add the ign-msgs Factory header
+    // Add the gz-msgs Factory header
     printer.Print("#include \"gz/msgs/Factory.hh\"\n", "name",
                   "includes");
 
diff --git a/src/Utility.cc b/src/Utility.cc
index 74638811..0b0ee65a 100644
--- a/src/Utility.cc
+++ b/src/Utility.cc
@@ -36,8 +36,8 @@ namespace gz
     // Inline bracket to help doxygen filtering.
     inline namespace GZ_MSGS_VERSION_NAMESPACE {
     /// \brief Left and right trim a string. This was copied from Gazebo
-    /// common, ign-common/Util.hh, to avoid adding another dependency.
-    /// Remove this function if ign-common ever becomes a dependency.
+    /// common, gz-common/Util.hh, to avoid adding another dependency.
+    /// Remove this function if gz-common ever becomes a dependency.
     /// \param[in] _s String to trim
     /// \return Trimmed string
     std::string trimmed(std::string _s)
@@ -54,8 +54,8 @@ namespace gz
     }
 
     /// \brief Splits a string into tokens. This was copied from Gazebo
-    /// common, ign-common/Util.hh, to avoid adding another dependency.
-    /// Remove this function if ign-common every becomes a dependency.
+    /// common, gz-common/Util.hh, to avoid adding another dependency.
+    /// Remove this function if gz-common every becomes a dependency.
     /// \param[in] _str Input string.
     /// \param[in] _delim Token delimiter.
     /// \return Vector of tokens.
diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index 634a31d5..ed18dd06 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -2,7 +2,7 @@
 # Generate the ruby script for internal testing.
 # Note that the major version of the library is included in the name.
 # Ex: cmdtransport0.rb
-set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/gz/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/gz/cmd${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
 set(cmd_script_configured_test "${cmd_script_generated_test}.configured")
 
 # Set the library_location variable to the full path of the library file within
@@ -10,7 +10,7 @@ set(cmd_script_configured_test "${cmd_script_generated_test}.configured")
 set(library_location "$<TARGET_FILE:${PROJECT_LIBRARY_TARGET_NAME}>")
 
 configure_file(
-  "cmd${IGN_DESIGNATION}.rb.in"
+  "cmd${GZ_DESIGNATION}.rb.in"
   "${cmd_script_configured_test}"
   @ONLY)
 
@@ -24,7 +24,7 @@ file(GENERATE
 # Generate the ruby script that gets installed.
 # Note that the major version of the library is included in the name.
 # Ex: cmdtransport0.rb
-set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmd${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
 set(cmd_script_configured "${cmd_script_generated}.configured")
 
 # Set the library_location variable to the relative path to the library file
@@ -32,7 +32,7 @@ set(cmd_script_configured "${cmd_script_generated}.configured")
 set(library_location "../../../${CMAKE_INSTALL_LIBDIR}/$<TARGET_FILE_NAME:${PROJECT_LIBRARY_TARGET_NAME}>")
 
 configure_file(
-  "cmd${IGN_DESIGNATION}.rb.in"
+  "cmd${GZ_DESIGNATION}.rb.in"
   "${cmd_script_configured}"
   @ONLY)
 
diff --git a/src/cmd/cmdmsgs.rb.in b/src/cmd/cmdmsgs.rb.in
index 251921e7..ffb9829c 100644
--- a/src/cmd/cmdmsgs.rb.in
+++ b/src/cmd/cmdmsgs.rb.in
@@ -35,7 +35,7 @@ COMMON_OPTIONS =
                "  --force-version <VERSION>  Use a specific library version.\n"\
                '  --versions                 Show the available versions.'
 COMMANDS = {  'msg' =>
-                  "Print information about ignition messages.\n\n" +
+                  "Print information about Gazebo messages.\n\n" +
                   "  gz msg [options]\n\n" +
                   "Options:\n\n" +
                   "  -i [ --info ] arg          " +
@@ -45,7 +45,7 @@ COMMANDS = {  'msg' =>
 }
 
 #
-# Class for the Ignition msgs command line tools.
+# Class for the Gazebo msgs command line tools.
 #
 class Cmd
   #
diff --git a/src/generator_main.cc b/src/generator_main.cc
index a3ebe827..79008fb6 100644
--- a/src/generator_main.cc
+++ b/src/generator_main.cc
@@ -37,6 +37,6 @@ int main(int _argc, char *_argv[])
 #endif  // !_MSC_VER
 
   google::protobuf::compiler::cpp::Generator
-    generator("ignition-msgs-plugin");
+    generator("gz-msgs-plugin");
   return google::protobuf::compiler::PluginMain(_argc, _argv, &generator);
 }
diff --git a/test/BUILD.bazel b/test/BUILD.bazel
index ad4f3b53..f32c1a9a 100644
--- a/test/BUILD.bazel
+++ b/test/BUILD.bazel
@@ -1,12 +1,12 @@
 load(
     "//gz_bazel:build_defs.bzl",
-    "IGNITION_ROOT",
-    "IGNITION_VISIBILITY",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
     "cmake_configure_file",
 )
 
 package(
-    default_visibility = IGNITION_VISIBILITY,
+    default_visibility = GZ_VISIBILITY,
     features = [
         "-layering_check",
     ],
@@ -48,7 +48,7 @@ cc_library(
         ],
         deps = [
             ":test_utils",
-            IGNITION_ROOT + "gz_msgs",
+            GZ_ROOT + "gz_msgs",
             "@gtest",
             "@gtest//:gtest_main",
         ],
diff --git a/tutorials.md.in b/tutorials.md.in
index 5fac81b7..f7ce0c62 100644
--- a/tutorials.md.in
+++ b/tutorials.md.in
@@ -1,8 +1,8 @@
 \page tutorials Tutorials
 
-Welcome to the Gazebo @IGN_DESIGNATION_CAP@ tutorials. These tutorials
+Welcome to the Gazebo @GZ_DESIGNATION_CAP@ tutorials. These tutorials
 will guide you through the process of understanding the capabilities of the
-Gazebo @IGN_DESIGNATION_CAP@ library and how to use the library effectively.
+Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively.
 
 **The tutorials**
 
diff --git a/tutorials/install.md b/tutorials/install.md
index 88884ec6..ed000748 100644
--- a/tutorials/install.md
+++ b/tutorials/install.md
@@ -15,7 +15,7 @@ The Source Installation instructions should be used if you need the very latest
 
 On Ubuntu systems, `apt-get` can be used to install `gz-msgs`:
 ```
-sudo apt install libignition-msgs<#>-dev
+sudo apt install libgz-msgs<#>-dev
 ```
 
 Be sure to replace `<#>` with a number value, such as 2 or 3, depending on
@@ -31,7 +31,7 @@ On macOS, add OSRF packages:
 
 Install Gazebo Msgs:
   ```
-  brew install ignition-msgs<#>
+  brew install gz-msgs<#>
   ```
 
 Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
@@ -50,7 +50,7 @@ conda activate gz-ws
 
 Install `gz-msgs`:
 ```
-conda install libignition-msgs<#> --channel conda-forge
+conda install libgz-msgs<#> --channel conda-forge
 ```
 
 Be sure to replace `<#>` with a number value, such as 2 or 3, depending on
@@ -64,7 +64,7 @@ which version you need.
 
 Install required dependencies as follows:
 ```
-sudo apt-get install libprotobuf-dev protobuf-compiler libprotoc-dev libignition-math7-dev
+sudo apt-get install libprotobuf-dev protobuf-compiler libprotoc-dev libgz-math7-dev
 ```
 
 ### Building from Source
@@ -97,7 +97,7 @@ sudo make uninstall
 
 2. Install dependencies
   ```
-  brew install --only-dependencies ignition-msgs<#>
+  brew install --only-dependencies gz-msgs<#>
   ```
   Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
   which version you need.
@@ -144,12 +144,12 @@ Install Gazebo dependencies:
 
 You can view lists of dependencies:
 ```
-conda search libignition-msgs* --channel conda-forge --info
+conda search libgz-msgs* --channel conda-forge --info
 ```
 
 Install dependencies, replacing `<#>` with the desired versions:
 ```
-conda install libignition-cmake<#> libignition-math<#> libignition-tools<#> --channel conda-forge
+conda install libgz-cmake<#> libgz-math<#> libgz-tools<#> --channel conda-forge
 ```
 
 ### Building from Source