diff --git a/docs/changelog.md b/docs/changelog.md
index 9a85deff01..a5dbd3aec9 100644
--- a/docs/changelog.md
+++ b/docs/changelog.md
@@ -1,6 +1,24 @@
 # Changelog
 
 
+## Version 1.5.1
+
+- **Documentation Updates**:  
+  - Updated `basicusage.md`, overview page, demo docs, teleop usage info, devices, and related docs.  
+  - Added a CI doc update workflow and `.nojekyll` fix.  
+  - Simplified composite controller keywords and updated robots section and task images.  
+
+- **Bug Fixes**:  
+  - Fixed segmentation demo, part controller demo, demo renderer, joint and actuator issues, equality removal, and orientation mismatch in Fourier hands.  
+
+- **Features/Enhancements**:  
+  - Added GymWrapper support for both `gym` and `gymnasium` with `dict_obs`.  
+  - Updated DexMimicGen assets and included a default whole-body Mink IK config.  
+  - Improved CI to check all tests and print video save paths in demo recordings.  
+
+- **Miscellaneous**:  
+  - Added troubleshooting for SpaceMouse failures and terminated `mjviewer` on resets.  
+  - Adjusted OSC position fixes and updated part controller JSONs.  
 
 ## Version 1.5.0
 
diff --git a/robosuite/__init__.py b/robosuite/__init__.py
index 5366c7b79b..9cf1965bb7 100644
--- a/robosuite/__init__.py
+++ b/robosuite/__init__.py
@@ -41,7 +41,7 @@
         "Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot."
     )
 
-__version__ = "1.5.0"
+__version__ = "1.5.1"
 __logo__ = """
       ;     /        ,--.
      ["]   ["]  ,<  |__**|
diff --git a/setup.py b/setup.py
index e036afceaf..982720b3be 100644
--- a/setup.py
+++ b/setup.py
@@ -33,7 +33,7 @@
     author="Yuke Zhu",
     url="https://github.com/ARISE-Initiative/robosuite",
     author_email="yukez@cs.utexas.edu",
-    version="1.5.0",
+    version="1.5.1",
     long_description=long_description,
     long_description_content_type="text/markdown",
 )