diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8f1a921d1d..ea0a0621ab 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-gazebo3 VERSION 3.15.0)
+project(ignition-gazebo3 VERSION 3.15.1)
 set (GZ_DISTRIBUTION "Citadel")
 
 #============================================================================
diff --git a/Changelog.md b/Changelog.md
index a994ba13b2..901331a512 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,35 @@
 ## Gazebo Sim 3.x
 
+### Gazebo Sim 3.15.1 (2024-01-05)
+
+1. Update github action workflows
+    * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
+    * [Pull request #1988](https://github.com/gazebosim/gz-sim/pull/1988)
+
+1. Fix macOS test failures by registering components in the core library
+    * [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
+
+1. Bump Fuel model version in test
+    * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
+
+1. Fix a minor issue in the documentation of the server API
+    * [Pull request #2067](https://github.com/gazebosim/gz-sim/pull/2067)
+
+1. Use sdf::Element::FindElement instead of GetElement in ApplyLinkWrench
+    * [Pull request #2052](https://github.com/gazebosim/gz-sim/pull/2052)
+
+1. Adds a warning if the `Server` method of a `TestFixture` is called before `Finalize`
+    * [Pull request #2047](https://github.com/gazebosim/gz-sim/pull/2047)
+
+1. Protobuf: Do not require version 3 do support Protobuf 4.23.2 (23.2)
+    * [Pull request #2006](https://github.com/gazebosim/gz-sim/pull/2006)
+
+1. Print an error message when trying to load SDF files that don't contain a `<world>`
+    * [Pull request #1998](https://github.com/gazebosim/gz-sim/pull/1998)
+
+1.  Enable GzWeb visualization of markers by republishing service requests on a topic
+    * [Pull request #1994](https://github.com/gazebosim/gz-sim/pull/1994)
+
 ### Gazebo Sim 3.15.0 (2023-05-08)
 
 1. Speed up Resource Spawner load time by fetching model list asynchronously