diff --git a/CHANGELOG.md b/CHANGELOG.md
index a60e8b5..d025247 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,8 +6,11 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 
 ## [Unreleased]
 
+## [1.21.1] - 2021-09-03
+
 ### Fixed
 * Fixed document on the use of `AMENT_PREFIX_PATH` environment variable (https://github.com/robotology/icub-models/pull/101).
+* Fixed wrong default collision on the arms that slowed down Gazebo Classic simulation for iCub3 models (https://github.com/robotology/icub-models/issues/100, https://github.com/robotology/icub-models-generator/pull/208).
 
 ## [1.21.0] - 2021-08-27
 
diff --git a/iCub/package.xml b/iCub/package.xml
index fb387d2..df422c8 100644
--- a/iCub/package.xml
+++ b/iCub/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>iCub</name>
-  <version>1.21.0</version>
+  <version>1.21.1</version>
   <description>
     This is not an actual package, but rather a placeholder to 
     make sure that the share/iCub directory is found as the