diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
index bbdb5bf1c82..bf0c492d5f5 100644
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -21,7 +21,7 @@
     In case of bug fixes, please provide the list of supported branches where this fix should be also merged.
     Please uncomment following line, adjusting the corresponding target branches for the backport.
 -->
-<!-- @Mergifyio backport 2.14.x 2.10.x -->
+<!-- @Mergifyio backport 3.0.x 2.14.x 2.10.x -->
 
 <!--
     In case of critical bug fix, please uncomment following line, adjusting the corresponding LTS target branches for the backport.
diff --git a/.github/workflows/mirror.yml b/.github/workflows/mirror.yml
index 02a4c59cac0..56be2e17b1f 100644
--- a/.github/workflows/mirror.yml
+++ b/.github/workflows/mirror.yml
@@ -13,7 +13,7 @@ jobs:
       fail-fast: false
       matrix:
         dest_branch:
-          - '3.0.x'
+          - '3.1.x'
           - '3.x'
     steps:
     - name: Mirror action step
diff --git a/.github/workflows/nightly-mac-ci.yml b/.github/workflows/nightly-mac-ci.yml
index 74eaad24d64..c5974204183 100644
--- a/.github/workflows/nightly-mac-ci.yml
+++ b/.github/workflows/nightly-mac-ci.yml
@@ -21,6 +21,21 @@ jobs:
       fastdds-branch: 'master'
       use-ccache: false
 
+  nightly-mac-ci-3_0_x:
+    strategy:
+      fail-fast: false
+      matrix:
+        security:
+          - 'ON'
+          - 'OFF'
+    uses: eProsima/Fast-DDS/.github/workflows/reusable-mac-ci.yml@3.0.x
+    with:
+      label: 'nightly-sec-${{ matrix.security }}-mac-ci-3.0.x'
+      cmake-args: "-DSECURITY=${{ matrix.security }}"
+      ctest-args: "-LE xfail"
+      fastdds-branch: '3.0.x'
+      use-ccache: false
+
   nightly-mac-ci-2_14_x:
     strategy:
       fail-fast: false
diff --git a/.github/workflows/nightly-sanitizers-ci.yml b/.github/workflows/nightly-sanitizers-ci.yml
index 8826ac0b91f..24d8286f7a7 100644
--- a/.github/workflows/nightly-sanitizers-ci.yml
+++ b/.github/workflows/nightly-sanitizers-ci.yml
@@ -20,6 +20,20 @@ jobs:
       fastdds_ref: 'master'
       discovery_server_ref: 'master'
 
+  nightly-sanitizers-ci-3_0_x:
+    uses: eProsima/Fast-DDS/.github/workflows/reusable-sanitizers-ci.yml@3.0.x
+    with:
+      label: 'nightly-sec-sanitizers-ci-3.0.x'
+      run_asan_fastdds: true
+      run_asan_discovery_server: true
+      run_tsan_fastdds: true
+      colcon_build_args: ''
+      colcon_test_args: ''
+      cmake_args: ''
+      ctest_args: ''
+      fastdds_ref: '3.0.x'
+      discovery_server_ref: '2.0.x'
+
   nightly-sanitizers-ci-2_14_x:
     uses: eProsima/Fast-DDS/.github/workflows/reusable-sanitizers-ci.yml@2.14.x
     with:
diff --git a/.github/workflows/nightly-ubuntu-ci.yml b/.github/workflows/nightly-ubuntu-ci.yml
index e5ae53df315..632e41a86d3 100644
--- a/.github/workflows/nightly-ubuntu-ci.yml
+++ b/.github/workflows/nightly-ubuntu-ci.yml
@@ -26,6 +26,26 @@ jobs:
       run-tests: true
       use-ccache: false
 
+  nightly-ubuntu-ci-3_0_x:
+    strategy:
+      fail-fast: false
+      matrix:
+        os-image:
+          - 'ubuntu-22.04'
+        security:
+          - true
+          - false
+    uses: eProsima/Fast-DDS/.github/workflows/reusable-ubuntu-ci.yml@3.0.x
+    with:
+      os-image: ${{ matrix.os-image }}
+      label: '${{ matrix.os-image }}-nightly-sec-${{ matrix.security }}-ubuntu-ci-3.0.x'
+      ctest-args: "-LE xfail"
+      fastdds-branch: '3.0.x'
+      security: ${{ matrix.security }}
+      run-build: true
+      run-tests: true
+      use-ccache: false
+
   nightly-ubuntu-ci-2_14_x:
     strategy:
       fail-fast: false
diff --git a/.github/workflows/nightly-windows-ci.yml b/.github/workflows/nightly-windows-ci.yml
index 956f0879885..c01770e54eb 100644
--- a/.github/workflows/nightly-windows-ci.yml
+++ b/.github/workflows/nightly-windows-ci.yml
@@ -20,6 +20,20 @@ jobs:
       ctest-args: "-LE xfail"
       fastdds_branch: 'master'
 
+  nightly-windows-ci-3_0_x:
+    strategy:
+      fail-fast: false
+      matrix:
+        security:
+          - 'ON'
+          - 'OFF'
+    uses: eProsima/Fast-DDS/.github/workflows/reusable-windows-ci.yml@3.0.x
+    with:
+      label: 'nightly-sec-${{ matrix.security }}-windows-ci-3.0.x'
+      cmake-args: "-DSECURITY=${{ matrix.security }}"
+      ctest-args: "-LE xfail"
+      fastdds_branch: '3.0.x'
+
   nightly-windows-ci-2_14_x:
       strategy:
         fail-fast: false
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c930e31b84f..2022f246096 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,7 +29,7 @@ endif()
 ###############################################################################
 # Project                                                                     #
 ###############################################################################
-project(fastdds VERSION "3.0.1" LANGUAGES C CXX)
+project(fastdds VERSION "3.1.0" LANGUAGES C CXX)
 
 set(PROJECT_NAME_LARGE "Fast DDS")
 string(TOUPPER "${PROJECT_NAME}" PROJECT_NAME_UPPER)
diff --git a/package.xml b/package.xml
index 34d2777e4a3..c80c33dc857 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>fastdds</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>
      *eprosima Fast DDS* 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>
diff --git a/src/cpp/rtps/messages/MessageReceiver.cpp b/src/cpp/rtps/messages/MessageReceiver.cpp
index 110e4ccb07b..3c221e512c6 100644
--- a/src/cpp/rtps/messages/MessageReceiver.cpp
+++ b/src/cpp/rtps/messages/MessageReceiver.cpp
@@ -867,7 +867,7 @@ bool MessageReceiver::proc_Submsg_Data(
         uint32_t next_pos = msg->pos + payload_size;
         if (msg->length >= next_pos && payload_size > 0)
         {
-            FASTDDS_TODO_BEFORE(3, 1, "Pass keyFlag in serializedPayload, and always pass input data upwards");
+            FASTDDS_TODO_BEFORE(3, 2, "Pass keyFlag in serializedPayload, and always pass input data upwards");
             if (dataFlag)
             {
                 ch.serializedPayload.data = &msg->buffer[msg->pos];