diff --git a/CHANGELOG.md b/CHANGELOG.md
index 179e6a9..346e2b4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,16 @@ and this project adheres to [Semantic Versioning](https://semver.org/).
 
 ## [Unreleased]
 
+## [0.7.0] - 2024-09-13
+
+### Added
+- Introduce `AhrsError` to enumerate errors.
+- Add non-fallible function `Ahrs::update_gyro`, and fallback to on normalize failure.
+
+### Changed
+- Update `nalgebra` to v0.33.
+- Update `simba` to v0.9.
+
 ## [0.6.0] - 2023-01-12
 
 ### Changed
@@ -41,7 +51,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/).
 - Add experimental feature `field_access` for access to filter parameters.
 - Add `no_std` support.
 
-[Unreleased]: https://github.com/jmagnuson/ahrs-rs/compare/v0.6.0...master
+[Unreleased]: https://github.com/jmagnuson/ahrs-rs/compare/v0.7.0...master
+[0.7.0]: https://github.com/jmagnuson/ahrs-rs/compare/v0.6.0...v0.7.0
 [0.6.0]: https://github.com/jmagnuson/ahrs-rs/compare/v0.5.0...v0.6.0
 [0.5.0]: https://github.com/jmagnuson/ahrs-rs/compare/v0.4.0...v0.5.0
 [0.4.0]: https://github.com/jmagnuson/ahrs-rs/compare/v0.3.0...v0.4.0
diff --git a/Cargo.toml b/Cargo.toml
index e75f40a..517f378 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "ahrs"
-version = "0.6.0"
+version = "0.7.0"
 authors = ["Jon Magnuson <jon.magnuson@gmail.com>"]
 description = "A Rust port of Madgwick's AHRS algorithm"
 repository = "https://github.com/jmagnuson/ahrs-rs"
diff --git a/README.md b/README.md
index 6c6b2b4..68e6465 100644
--- a/README.md
+++ b/README.md
@@ -13,7 +13,7 @@ Add ahrs-rs to your `Cargo.toml`:
 
 ```toml
 [dependencies]
-ahrs = "0.6"
+ahrs = "0.7"
 ```
 
 Here's a simple example that updates the filter state with arbitrary sensor data: