diff --git a/CMakeLists.txt b/CMakeLists.txt
index 446ae4b45..825fada5c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,7 +16,7 @@ find_package(gz-cmake3 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX pre1)
+gz_configure_project(VERSION_SUFFIX)
 
 #============================================================================
 # Set project-specific options
diff --git a/Changelog.md b/Changelog.md
index 27d5ad1c5..01431925e 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -2,6 +2,82 @@
 
 ### Gazebo Physics 6.x.x (202X-XX-XX)
 
+### Gazebo Physics 6.0.0 (2022-09-21)
+
+1. Improved documentation and instructions
+    * [Pull request #421](https://github.com/gazebosim/gz-physics/pull/421)
+    * [Pull request #419](https://github.com/gazebosim/gz-physics/pull/419)
+    * [Pull request #422](https://github.com/gazebosim/gz-physics/pull/422)
+    * [Pull request #417](https://github.com/gazebosim/gz-physics/pull/417)
+    * [Pull request #416](https://github.com/gazebosim/gz-physics/pull/416)
+    * [Pull request #316](https://github.com/gazebosim/gz-physics/pull/316)
+    * [Pull request #312](https://github.com/gazebosim/gz-physics/pull/312)
+    * [Pull request #401](https://github.com/gazebosim/gz-physics/pull/401)
+
+1. Added common tests
+    * [Pull request #414](https://github.com/gazebosim/gz-physics/pull/414)
+    * [Pull request #412](https://github.com/gazebosim/gz-physics/pull/412)
+    * [Pull request #411](https://github.com/gazebosim/gz-physics/pull/411)
+    * [Pull request #410](https://github.com/gazebosim/gz-physics/pull/410)
+    * [Pull request #409](https://github.com/gazebosim/gz-physics/pull/409)
+    * [Pull request #408](https://github.com/gazebosim/gz-physics/pull/408)
+    * [Pull request #407](https://github.com/gazebosim/gz-physics/pull/407)
+    * [Pull request #364](https://github.com/gazebosim/gz-physics/pull/364)
+    * [Pull request #362](https://github.com/gazebosim/gz-physics/pull/362)
+    * [Pull request #360](https://github.com/gazebosim/gz-physics/pull/360)
+    * [Pull request #363](https://github.com/gazebosim/gz-physics/pull/363)
+    * [Pull request #357](https://github.com/gazebosim/gz-physics/pull/357)
+
+1. dartsim: fix handling inertia matrix pose rotation
+    * [Pull request #351](https://github.com/gazebosim/gz-physics/pull/351)
+
+1. ABI tweaks to help bullet-featherstone
+    * [Pull request #395](https://github.com/gazebosim/gz-physics/pull/395)
+
+1. Add code coverage ignore file
+    * [Pull request #388](https://github.com/gazebosim/gz-physics/pull/388)
+
+1. Fix bullet classic entity management
+    * [Pull request #393](https://github.com/gazebosim/gz-physics/pull/393)
+
+1. Ignition to Gazebo transition
+    * [Pull request #378](https://github.com/gazebosim/gz-physics/pull/378)
+    * [Pull request #368](https://github.com/gazebosim/gz-physics/pull/368)
+    * [Pull request #356](https://github.com/gazebosim/gz-physics/pull/356)
+    * [Pull request #355](https://github.com/gazebosim/gz-physics/pull/355)
+    * [Pull request #358](https://github.com/gazebosim/gz-physics/pull/358)
+    * [Pull request #353](https://github.com/gazebosim/gz-physics/pull/353)
+    * [Pull request #348](https://github.com/gazebosim/gz-physics/pull/348)
+    * [Pull request #346](https://github.com/gazebosim/gz-physics/pull/346)
+    * [Pull request #390](https://github.com/gazebosim/gz-physics/pull/390)
+    * [Pull request #381](https://github.com/gazebosim/gz-physics/pull/381)
+
+1. Fixed warning SDFfeatures_TEST - dartsim
+    * [Pull request #370](https://github.com/gazebosim/gz-physics/pull/370)
+
+1. Update GoogleTest to latest version
+    * [Pull request #369](https://github.com/gazebosim/gz-physics/pull/369)
+    * [Pull request #377](https://github.com/gazebosim/gz-physics/pull/377)
+
+1. Use new Joint APIs for Parent/Child name
+    * [Pull request #361](https://github.com/gazebosim/gz-physics/pull/361)
+
+1. Bullet: Added collision shape to Capsule and Ellipsoid
+    * [Pull request #350](https://github.com/gazebosim/gz-physics/pull/350)
+
+1. examples: fix cmake find version variables
+    * [Pull request #340](https://github.com/gazebosim/gz-physics/pull/340)
+
+1. Fix ExpectData compiler warnings
+    * [Pull request #335](https://github.com/gazebosim/gz-physics/pull/335)
+
+1. Added DEM support to heightmaps
+    * [Pull request #315](https://github.com/gazebosim/gz-physics/pull/315)
+
+1. Remove Bionic from future releases (Garden+)
+    * [Pull request #331](https://github.com/gazebosim/gz-physics/pull/331)
+
+
 ## Gazebo Physics 5.x
 
 ### Gazebo Physics 5.2.0 (2022-06-29)