diff --git a/doc/changelog.rst b/doc/changelog.rst
index 19436ea2..e408b4fa 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -2,54 +2,54 @@
 Changelog
 =========
 
-Upcoming version (not yet released)
------------------------------------
+Version 3.8.1 (May 11, 2026)
+----------------------------
 
 General
 ^^^^^^^
-- Added island support for the :ref:`PGS solver<soAlgorithms>`.
-- The :ref:`PGS solver<soAlgorithms>` now iterates over constraints in pseudo-random order, improving performance by
-  ~20%.
-- Added support for :ref:`elastic2d<flex-elasticity-elastic2d>` for trilinear and quadratic flex
-  :ref:`dofs<body-flexcomp-dof>`.
-- :ref:`Midpoint integration<geMidpoint>` is now restricted to the ``implicitfast``
-  :ref:`integrator<geIntegrators>` and is disabled when fluid forces are active
-  (nonzero :ref:`density<option-density>` or :ref:`viscosity<option-viscosity>`).
-  Midpoint integration treats external forces as zero-order-hold constants, which causes
-  energy gain in the presence of contacts and in fluid media.
-- Added :ref:`mju_sym2dense`, converting a lower-triangular, implicitly symmetric CSR matrix to a dense
-  symmetric matrix. The inertia matrix ``mjData.M`` is an example of such a matrix.
-- Added :ref:`mjs_getOriginSpec`, returning the spec that originally defined an element, prior to attachment. This is in
-  contrast to :ref:`mjs_getSpec` which returns the spec currently owning the element. If the element is not the result
-  of an attach operation, the functions are identical.
+1. Added island support for the :ref:`PGS solver<soAlgorithms>`.
+2. The :ref:`PGS solver<soAlgorithms>` now iterates over constraints in pseudo-random order, improving performance by
+   ~20%.
+3. Added support for :ref:`elastic2d<flex-elasticity-elastic2d>` for trilinear and quadratic flex
+   :ref:`dofs<body-flexcomp-dof>`.
+4. :ref:`Midpoint integration<geMidpoint>` is now restricted to the ``implicitfast``
+   :ref:`integrator<geIntegrators>` and is disabled when fluid forces are active
+   (nonzero :ref:`density<option-density>` or :ref:`viscosity<option-viscosity>`).
+   Midpoint integration treats external forces as zero-order-hold constants, which causes
+   energy gain in the presence of contacts and in fluid media.
+5. Added :ref:`mjs_getOriginSpec`, returning the spec that originally defined an element, prior to attachment. This is
+   in contrast to :ref:`mjs_getSpec` which returns the spec currently owning the element. If the element is not the
+   result of an attach operation, the functions are identical.
+6. Added :ref:`mju_sym2dense`, converting a lower-triangular, implicitly symmetric CSR matrix to a dense symmetric
+   matrix. The inertia matrix ``mjData.M`` is an example of such a matrix.
 
 .. admonition:: Future breaking API changes
    :class: warning
 
-   - The introduction of :ref:`mju_sym2dense` is a step towards the removal of the legacy-format ``mjData.qM`` in favor
-     of the CSR-format ``mjData.M``. This removal will involve a future breaking change to :ref:`mj_fullM` (which
-     currently accepts a ``qM``-like matrix as an argument). To prevent a future breakage, replace
-     ``mj_fullM(m, dst, d->qM)``  with
-     |br| ``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
-
+   7. The introduction of :ref:`mju_sym2dense` is a step towards the removal of the legacy-format ``mjData.qM`` in favor
+      of the CSR-format ``mjData.M``. This removal will involve a future breaking change to :ref:`mj_fullM` (which
+      currently accepts a ``qM``-like matrix as an argument). To prevent a future breakage, replace
+      ``mj_fullM(m, dst, d->qM)``  with
+      |br| ``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
 
 
 Bug fixes
 ^^^^^^^^^
 
-- Fixed default for multiccd in :doc:`mjcPhysics <OpenUSD/mjcPhysics>`.
+8. Fixed default for multiccd in :doc:`mjcPhysics <OpenUSD/mjcPhysics>`.
 
 Python
 ^^^^^^
 
-- Added ``MjSpec.encode`` method, wrapping :ref:`mj_encode`.
-- Added ``mujoco.MjVfs`` Python binding to interact with the Virtual File System directly from Python.
-  See :ref:`Virtual File System <PyVFS>` for usage details.
+9. Added ``MjSpec.encode`` method, wrapping :ref:`mj_encode`.
+10. Added ``mujoco.MjVfs`` Python binding to interact with the Virtual File System directly from Python.
+    See :ref:`Virtual File System <PyVFS>` for usage details.
+
+    .. warning::
+       The previous way of passing assets via a dictionary mapping asset names to bytes is **deprecated** and will be
+       removed in an upcoming release. You cannot specify both the ``assets`` dictionary and the ``vfs`` argument at the
+       same time. ``MjVfs`` should be used as a drop-in replacement.
 
-  .. warning::
-   The previous way of passing assets via a dictionary mapping asset names to bytes is **deprecated** and will be
-   removed in an upcoming release. You cannot specify both the ``assets`` dictionary and the ``vfs`` argument at the same
-   time. ``MjVfs`` should be used as a drop-in replacement.
 
 Version 3.8.0 (April 24, 2026)
 ------------------------------