diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1faf91a932de3..d5d86590ecaa9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,7 @@ message(STATUS "Generate makefile/project file for DART")
 
 set(DART_MAJOR_VERSION "4")
 set(DART_MINOR_VERSION "1")
-set(DART_PATCH_VERSION "0")
+set(DART_PATCH_VERSION "1")
 set(PKG_DESC "Dynamic Animation and Robotics Toolkit.")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(PKG_EXTERNAL_DEPS "flann, ccd, fcl")
diff --git a/Changelog.md b/Changelog.md
index 5a3be14e6ca9a..d626c2bf20730 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,3 +1,16 @@
+### Version 4.1.1 (2014-07-17)
+1. Added ABI check script
+    * [Pull request #226](https://github.com/dartsim/dart/pull/226)
+    * [Pull request #227](https://github.com/dartsim/dart/pull/227)
+1. Fixed build issues on Linux
+    * [Pull request #214](https://github.com/dartsim/dart/pull/214)
+    * [Pull request #219](https://github.com/dartsim/dart/pull/219)
+1. Fixed build issues on Windows
+    * [Pull request #215](https://github.com/dartsim/dart/pull/215)
+    * [Pull request #217](https://github.com/dartsim/dart/pull/217)
+1. Fixed unintended warning messages
+    * [Pull request #220](https://github.com/dartsim/dart/pull/220)
+
 ### Version 4.1.0 (2014-07-02)
 
 1. Fixed bug in switching collision detectors
diff --git a/debian/changelog b/debian/changelog
index 14ec80f58e66d..b6604f41a57cd 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,12 @@
+dart (4.1.1) unstable; urgency=low
+
+  * Added ABI check script
+  * Fixed build issues on Linux
+  * Fixed build issues on Windows
+  * Fixed unintended warning messages
+
+ -- Jeongseok Lee <jslee02@gmail.com>  Thu, 17 Jul 2014 23:00:00 -0500
+
 dart (4.1.0) unstable; urgency=low
 
   * Fixed bug in switching collision detectors