diff --git a/CMakeLists.txt b/CMakeLists.txt
index f1832f12..9de52ede 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-sensors6 VERSION 6.8.0)
+project(ignition-sensors6 VERSION 6.8.1)
 
 #============================================================================
 # Find ignition-cmake
diff --git a/Changelog.md b/Changelog.md
index 777e5649..7a9fac7d 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,19 @@
 ## Gazebo Sensors 6
 
+### Gazebo Sensors 6.8.1 (2024-10-04)
+
+1. Fix optical frame id in depth and rgbd camera
+    * [Pull request #461](https://github.com/gazebosim/gz-sensors/pull/461)
+
+1. Backport frame id fixes
+    * [Pull request #446](https://github.com/gazebosim/gz-sensors/pull/446)
+
+1. Publish lidar scan only if there are lidar scan connections
+    * [Pull request #447](https://github.com/gazebosim/gz-sensors/pull/447)
+
+1. Fix frames set to Name instead of FrameId for pointclouds
+    * [Pull request #417](https://github.com/gazebosim/gz-sensors/pull/417)
+
 ### Gazebo Sensors 6.8.0 (2024-01-12)
 
 1. Allow specifying gz_frame_id as an alternative to ignition_frame_id