diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8289c5bef..c716b7e1e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,23 @@
 # Changelog
 
+## [1.21.0](https://github.com/googleapis/google-auth-library-java/compare/v1.20.0...v1.21.0) (2023-12-21)
+
+
+### Features
+
+* Add code sample and test for getting an access token from an impersonated SA ([#1289](https://github.com/googleapis/google-auth-library-java/issues/1289)) ([826ee40](https://github.com/googleapis/google-auth-library-java/commit/826ee4007d3e0600dfdf42383f56dbcf6cdd4cec))
+* Multi universe support, adding universe_domain field ([#1282](https://github.com/googleapis/google-auth-library-java/issues/1282)) ([7eb322e](https://github.com/googleapis/google-auth-library-java/commit/7eb322e3af6bce85774b2a1051242a4b62b53963))
+
+
+### Bug Fixes
+
+* Remove -Xlint:unchecked, suppress all existing violations, add @CanIgnoreReturnValue ([#1324](https://github.com/googleapis/google-auth-library-java/issues/1324)) ([04dfd40](https://github.com/googleapis/google-auth-library-java/commit/04dfd40c57b89c2d55327d5ea08036d749ebac02))
+
+
+### Documentation
+
+* Update README.md to link to Cloud authentication documentation rather than AIPs ([98fc7e1](https://github.com/googleapis/google-auth-library-java/commit/98fc7e1f2f551d59811de63eaef0df6bf8e21c2c))
+
 ## [1.20.0](https://github.com/googleapis/google-auth-library-java/compare/v1.19.0...v1.20.0) (2023-09-19)
 
 
diff --git a/appengine/pom.xml b/appengine/pom.xml
index b68b85431..9a9cfe388 100644
--- a/appengine/pom.xml
+++ b/appengine/pom.xml
@@ -5,7 +5,7 @@
   <parent>
     <groupId>com.google.auth</groupId>
     <artifactId>google-auth-library-parent</artifactId>
-    <version>1.20.1-SNAPSHOT</version><!-- {x-version-update:google-auth-library-parent:current} -->
+    <version>1.21.0</version><!-- {x-version-update:google-auth-library-parent:current} -->
     <relativePath>../pom.xml</relativePath>
   </parent>
 
diff --git a/bom/pom.xml b/bom/pom.xml
index cce4cab86..7dccf8f55 100644
--- a/bom/pom.xml
+++ b/bom/pom.xml
@@ -3,7 +3,7 @@
   <modelVersion>4.0.0</modelVersion>
   <groupId>com.google.auth</groupId>
   <artifactId>google-auth-library-bom</artifactId>
-  <version>1.20.1-SNAPSHOT</version><!-- {x-version-update:google-auth-library-bom:current} -->
+  <version>1.21.0</version><!-- {x-version-update:google-auth-library-bom:current} -->
   <packaging>pom</packaging>
   <name>Google Auth Library for Java BOM</name>
   <description>
diff --git a/credentials/pom.xml b/credentials/pom.xml
index 98f022ba6..b62e75e43 100644
--- a/credentials/pom.xml
+++ b/credentials/pom.xml
@@ -4,7 +4,7 @@
   <parent>
     <groupId>com.google.auth</groupId>
     <artifactId>google-auth-library-parent</artifactId>
-    <version>1.20.1-SNAPSHOT</version><!-- {x-version-update:google-auth-library-parent:current} -->
+    <version>1.21.0</version><!-- {x-version-update:google-auth-library-parent:current} -->
     <relativePath>../pom.xml</relativePath>
   </parent>
 
diff --git a/oauth2_http/pom.xml b/oauth2_http/pom.xml
index b29d4c83c..c45418b51 100644
--- a/oauth2_http/pom.xml
+++ b/oauth2_http/pom.xml
@@ -7,7 +7,7 @@
   <parent>
     <groupId>com.google.auth</groupId>
     <artifactId>google-auth-library-parent</artifactId>
-    <version>1.20.1-SNAPSHOT</version><!-- {x-version-update:google-auth-library-parent:current} -->
+    <version>1.21.0</version><!-- {x-version-update:google-auth-library-parent:current} -->
     <relativePath>../pom.xml</relativePath>
   </parent>
 
diff --git a/pom.xml b/pom.xml
index c3f04369f..acf01f308 100644
--- a/pom.xml
+++ b/pom.xml
@@ -5,7 +5,7 @@
   <modelVersion>4.0.0</modelVersion>
   <groupId>com.google.auth</groupId>
   <artifactId>google-auth-library-parent</artifactId>
-  <version>1.20.1-SNAPSHOT</version><!-- {x-version-update:google-auth-library-parent:current} -->
+  <version>1.21.0</version><!-- {x-version-update:google-auth-library-parent:current} -->
   <packaging>pom</packaging>
   <name>Google Auth Library for Java</name>
   <description>Client libraries providing authentication and
diff --git a/versions.txt b/versions.txt
index ab79498f0..91524d2da 100644
--- a/versions.txt
+++ b/versions.txt
@@ -1,9 +1,9 @@
 # Format:
 # module:released-version:current-version
 
-google-auth-library:1.20.0:1.20.1-SNAPSHOT
-google-auth-library-bom:1.20.0:1.20.1-SNAPSHOT
-google-auth-library-parent:1.20.0:1.20.1-SNAPSHOT
-google-auth-library-appengine:1.20.0:1.20.1-SNAPSHOT
-google-auth-library-credentials:1.20.0:1.20.1-SNAPSHOT
-google-auth-library-oauth2-http:1.20.0:1.20.1-SNAPSHOT
+google-auth-library:1.21.0:1.21.0
+google-auth-library-bom:1.21.0:1.21.0
+google-auth-library-parent:1.21.0:1.21.0
+google-auth-library-appengine:1.21.0:1.21.0
+google-auth-library-credentials:1.21.0:1.21.0
+google-auth-library-oauth2-http:1.21.0:1.21.0