diff --git a/CMakeLists.txt b/CMakeLists.txt
index 309a85590..3e5264c3a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,7 +27,7 @@ project (sdformat9)
 set (SDF_PROTOCOL_VERSION 1.7)
 
 set (SDF_MAJOR_VERSION 9)
-set (SDF_MINOR_VERSION 2)
+set (SDF_MINOR_VERSION 3)
 set (SDF_PATCH_VERSION 0)
 
 set (SDF_VERSION ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION})
diff --git a/Changelog.md b/Changelog.md
index 31d8b668d..b1fb813dd 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -2,6 +2,11 @@
 
 ### SDFormat 9.X.X (202X-XX-XX)
 
+### SDFormat 9.3.0 (2020-XX-XX)
+
+1. Support nested models in DOM and frame semantics.
+    * [Pull request 316](https://github.com/osrf/sdformat/pull/316)
+
 1. Change bitbucket links to GitHub.
     * [Pull request 240](https://github.com/osrf/sdformat/pull/240)