diff --git a/.github/workflows/mirror.yml b/.github/workflows/mirror.yml
index 831277ac08b..117bdd85e41 100644
--- a/.github/workflows/mirror.yml
+++ b/.github/workflows/mirror.yml
@@ -11,7 +11,7 @@ jobs:
       fail-fast: false
       matrix:
         dest_branch:
-          - '2.9.x'
+          - '2.10.x'
     steps:
     - name: Mirror action step
       id: mirror
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4f715900602..25e53958d38 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,7 +30,7 @@ endif()
 ###############################################################################
 # Project                                                                     #
 ###############################################################################
-project(fastrtps VERSION "2.9.1" LANGUAGES C CXX)
+project(fastrtps VERSION "2.10.0" LANGUAGES C CXX)
 
 set(PROJECT_NAME_LARGE "Fast RTPS")
 string(TOUPPER "${PROJECT_NAME}" PROJECT_NAME_UPPER)
diff --git a/package.xml b/package.xml
index a4557f9645b..80062c9bdda 100644
--- a/package.xml
+++ b/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>fastrtps</name>
-  <version>2.9.1</version>
+  <version>2.10.0</version>
   <description>
      *eprosima Fast DDS* (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. *eProsima Fast DDS* expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.
   </description>