diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8bd745d..5cfcbdd 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,11 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 
 ## [Unreleased]
 
+# [2.4.1] - 2023-10-30
+
+### Fixed
+* Fixed version number in CMakeLists.txt and package.xml (https://github.com/robotology/icub-models/pull/222).
+
 # [2.4.0] - 2023-10-30
 
 ### Changed
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6f9e552..95a76c9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@
 cmake_minimum_required(VERSION 3.8...3.16)
 
 project(icub-models
-  VERSION 2.3.0)
+  VERSION 2.4.1)
 
 include(GNUInstallDirs)
 
diff --git a/iCub_manual/package.xml b/iCub_manual/package.xml
index ee1a974..40ec0ab 100644
--- a/iCub_manual/package.xml
+++ b/iCub_manual/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>iCub</name>
-  <version>2.3.0</version>
+  <version>2.4.1</version>
   <description>
     This is not an actual package, but rather a placeholder to 
     make sure that the share/iCub directory is found as the