diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 9ccd5110..dbbe77c4 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package rcutils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.1.3 (2023-04-25)
+------------------
+* avoid unnecessary copy for rcutils_char_array_vsprintf. (`#412 <https://github.com/ros2/rcutils/issues/412>`_) (`#413 <https://github.com/ros2/rcutils/issues/413>`_)
+* Contributors: mergify[bot]
+
 5.1.2 (2022-11-07)
 ------------------
 * Change syntax __VAR_ARGS_\_ to __VA_ARGS_\_ (`#376 <https://github.com/ros2/rcutils/issues/376>`_) (`#377 <https://github.com/ros2/rcutils/issues/377>`_)
diff --git a/package.xml b/package.xml
index 010a1166..89710503 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>rcutils</name>
-  <version>5.1.2</version>
+  <version>5.1.3</version>
   <description>Package containing various utility types and functions for C</description>
   <maintainer email="clalancette@openrobotics.org">Chris Lalancette</maintainer>
   <maintainer email="alejandro@openrobotics.org">Alejandro Hernandez Cordero</maintainer>