diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3b4b16cf..16d2417d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,7 +35,7 @@ endif()
 ###############################################################################
 # Project                                                                     #
 ###############################################################################
-project(fastcdr VERSION 2.3.3 LANGUAGES CXX)
+project(fastcdr VERSION 2.3.4 LANGUAGES CXX)
 
 set(PROJECT_NAME_STYLED "FastCDR")
 set(PROJECT_NAME_LARGE "Fast CDR")
diff --git a/RELEASE_SUPPORT.md b/RELEASE_SUPPORT.md
index 5c836594..334288d6 100644
--- a/RELEASE_SUPPORT.md
+++ b/RELEASE_SUPPORT.md
@@ -10,7 +10,7 @@ Please, refer to the [master branch](https://github.com/eProsima/Fast-CDR/blob/m
 
 |Fast DDS Version|Fast CDR Version|Fast CDR Version branch|Fast CDR Latest Release|
 |----------------|----------------|-----------------------|-----------------------|
-|3.2, 3.3, 3.4|2.3|[2.3.x](https://github.com/eProsima/Fast-CDR/tree/2.3.x)|[v2.3.3](https://github.com/eProsima/Fast-CDR/releases/tag/v2.3.3)|
+|3.2, 3.3, 3.4|2.3|[2.3.x](https://github.com/eProsima/Fast-CDR/tree/2.3.x)|[v2.3.4](https://github.com/eProsima/Fast-CDR/releases/tag/v2.3.4)|
 |2.14|2.2|[2.2.x](https://github.com/eProsima/Fast-CDR/tree/2.2.x)|[v2.2.6](https://github.com/eProsima/Fast-CDR/releases/tag/v2.2.6)|
 |2.6|1.0|[1.0.x](https://github.com/eProsima/Fast-CDR/tree/1.0.x)|[v1.0.28](https://github.com/eProsima/Fast-CDR/releases/tag/v1.0.28)|
 
diff --git a/package.xml b/package.xml
index f74b0ee7..68792693 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="3">
   <name>fastcdr</name>
-  <version>2.3.3</version>
+  <version>2.3.4</version>
   <description>
     *eProsima Fast CDR* is a C++ serialization library implementing the Common Data Representation (CDR) mechanism defined by the Object Management Group (OMG) consortium. CDR is the serialization mechanism used in DDS for the DDS Interoperability Wire Protocol (DDSI-RTPS).
   </description>