diff --git a/VERSION b/VERSION
index f3da0dc..29bdd6e 100644
--- a/VERSION
+++ b/VERSION
@@ -1,3 +1,3 @@
 VERSION_MAJOR 1
-VERSION_MINOR 3
+VERSION_MINOR 4
 VERSION_PATCH 0
diff --git a/cmake_utils/package.xml b/cmake_utils/package.xml
index d86cfe2..4608427 100644
--- a/cmake_utils/package.xml
+++ b/cmake_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cmake_utils</name>
-  <version>1.3.0</version>
+  <version>1.4.0</version>
   <description>
      *eprosima* CMake utils and macros.
   </description>
diff --git a/cpp_utils/package.xml b/cpp_utils/package.xml
index 87ca296..dbd73fd 100644
--- a/cpp_utils/package.xml
+++ b/cpp_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cpp_utils</name>
-  <version>1.3.0</version>
+  <version>1.4.0</version>
   <description>
      *eprosima* Dev Utils Module is a C++ implementation for some generic utils methods and classes.
   </description>
diff --git a/py_utils/package.xml b/py_utils/package.xml
index 0e00680..8a87ce7 100644
--- a/py_utils/package.xml
+++ b/py_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>py_utils</name>
-  <version>1.3.0</version>
+  <version>1.4.0</version>
   <description>
      *eprosima* Dev Utils Module is a Python implementation for some generic utils methods and classes.
   </description>
diff --git a/py_utils/setup.py b/py_utils/setup.py
index 4eff599..c4cc907 100644
--- a/py_utils/setup.py
+++ b/py_utils/setup.py
@@ -16,7 +16,7 @@
 
 setup(
     name=package_name,
-    version='1.3.0',
+    version='1.4.0',
     packages=file_packages,
     long_description=long_description,
     data_files=[
diff --git a/versions.md b/versions.md
index c8639a5..bfd7488 100644
--- a/versions.md
+++ b/versions.md
@@ -5,6 +5,23 @@ The *Forthcoming* section includes those features added in `main` branch that ar
 
 ## Forthcoming
 
+## Version 1.4.0
+
+This release includes the following **Improvements**:
+* Keyboard reading modified to avoid inserting literals when pressing `Delete`
+
+This release includes the following **CI improvements**:
+* Refactor of `Dev-utils` CI
+* Update README labels to point to proper CI links
+
+This release includes the following **dependencies update**:
+
+|  | Repository | Old Version | New Version |
+|---|---|---|---|
+| Foonathan Memory Vendor | [eProsima/foonathan_memory_vendor](https://github.com/eProsima/foonathan_memory_vendor) | [v1.3.1](https://github.com/eProsima/foonathan_memory_vendor/releases/tag/v1.3.1) | [v1.3.1](https://github.com/eProsima/foonathan_memory_vendor/releases/tag/v1.3.1) |
+| Fast CDR | [eProsima/Fast-CDR](https://github.com/eProsima/Fast-CDR) | [v2.3.0](https://github.com/eProsima/Fast-CDR/releases/tag/v2.3.0) | [v2.3.4](https://github.com/eProsima/Fast-CDR/releases/tag/v2.3.4) |
+| Fast DDS | [eProsima/Fast-DDS](https://github.com/eProsima/Fast-DDS) | [v3.3.0](https://github.com/eProsima/Fast-DDS/releases/tag/v3.3.0) | [v3.4.1](https://github.com/eProsima/Fast-DDS/releases/tag/v3.4.1) |
+
 ## Version 1.3.0
 
 This release includes the following **Improvements**: