diff --git a/VERSION b/VERSION
index c82573cb6..e22b851c8 100644
--- a/VERSION
+++ b/VERSION
@@ -1,3 +1,3 @@
 VERSION_MAJOR 3
 VERSION_MINOR 5
-VERSION_PATCH 1
+VERSION_PATCH 3
diff --git a/ddsrouter_core/package.xml b/ddsrouter_core/package.xml
index 728a82bba..edda84521 100644
--- a/ddsrouter_core/package.xml
+++ b/ddsrouter_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ddsrouter_core</name>
-  <version>3.5.1</version>
+  <version>3.5.3</version>
   <description>
      *eprosima DDS Router* C++ library to communicate isolated DDS networks between each other. Use in isolated machines an WAN scenarios.
   </description>
diff --git a/ddsrouter_test/package.xml b/ddsrouter_test/package.xml
index ce447675e..15366b2d1 100644
--- a/ddsrouter_test/package.xml
+++ b/ddsrouter_test/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ddsrouter_test</name>
-  <version>3.5.1</version>
+  <version>3.5.3</version>
   <description>
      *eprosima DDS Router* tests.
   </description>
diff --git a/ddsrouter_yaml/package.xml b/ddsrouter_yaml/package.xml
index f187f1ea6..7e99379e8 100644
--- a/ddsrouter_yaml/package.xml
+++ b/ddsrouter_yaml/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ddsrouter_yaml</name>
-  <version>3.5.1</version>
+  <version>3.5.3</version>
   <description>
      *eprosima DDS Router* C++ library to communicate isolated DDS networks between each other. Use in isolated machines an WAN scenarios.
   </description>
diff --git a/docs/package.xml b/docs/package.xml
index a88eec0b3..669f1b174 100644
--- a/docs/package.xml
+++ b/docs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ddsrouter_docs</name>
-  <version>3.5.1</version>
+  <version>3.5.3</version>
   <description>
      *eprosima DDS Router* Documentation built with sphinx and deployed in ReadTheDocs.
   </description>
diff --git a/docs/rst/notes/notes.rst b/docs/rst/notes/notes.rst
index 723ba4668..23a5758aa 100644
--- a/docs/rst/notes/notes.rst
+++ b/docs/rst/notes/notes.rst
@@ -5,9 +5,18 @@
 .. include:: forthcoming_version.rst
 
 ##############
-Version v3.5.1
+Version v3.5.3
 ##############
 
+This release includes the following **features**:
+
+* Add a native C++ YAML validator with JSON schema to ``ddsrouter_yaml``, replacing the old Python validator
+
+This release includes the following **improvements**:
+
+* Add regression tests for the DDS-Pipe Dispose fix in the DDS Router repeater
+* Remove unused ``FileWatch`` header
+
 This release includes the following **Dependencies Update**:
 
 .. list-table::
@@ -19,29 +28,30 @@ This release includes the following **Dependencies Update**:
         - New Version
     *   - Foonathan Memory Vendor
         - `eProsima/foonathan_memory_vendor <https://github.com/eProsima/foonathan_memory_vendor>`_
-        - `v1.3.1 <https://github.com/eProsima/foonathan_memory_vendor/releases/tag/v1.3.1>`_
+        - `v1.4.1 <https://github.com/eProsima/foonathan_memory_vendor/releases/tag/v1.4.1>`_
         - `v1.4.1 <https://github.com/eProsima/foonathan_memory_vendor/releases/tag/v1.4.1>`_
     *   - Fast CDR
         - `eProsima/Fast-CDR <https://github.com/eProsima/Fast-CDR>`_
-        - `v2.3.4 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.3.4>`_
         - `v2.3.5 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.3.5>`_
+        - `v2.3.6 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.3.6>`_
     *   - Fast DDS
         - `eProsima/Fast-DDS <https://github.com/eProsima/Fast-DDS>`_
-        - `v3.6.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v3.6.0>`_
         - `v3.6.1 <https://github.com/eProsima/Fast-DDS/releases/tag/v3.6.1>`_
+        - `v3.6.2 <https://github.com/eProsima/Fast-DDS/releases/tag/v3.6.2>`_
     *   - Dev Utils
         - `eProsima/dev-utils <https://github.com/eProsima/dev-utils>`_
-        - `v1.5.0 <https://github.com/eProsima/dev-utils/releases/tag/v1.5.0>`__
         - `v1.5.1 <https://github.com/eProsima/dev-utils/releases/tag/v1.5.1>`__
+        - `v1.5.3 <https://github.com/eProsima/dev-utils/releases/tag/v1.5.3>`_
     *   - DDS Pipe
-        - `eProsima/DDS-Pipe <https://github.com/eProsima/DDS-Pipe.git>`_
-        - `v1.5.0 <https://github.com/eProsima/DDS-Pipe/releases/tag/v1.5.0>`__
+        - `eProsima/DDS-Pipe <https://github.com/eProsima/DDS-Pipe>`_
         - `v1.5.1 <https://github.com/eProsima/DDS-Pipe/releases/tag/v1.5.1>`__
+        - `v1.5.2 <https://github.com/eProsima/DDS-Pipe/releases/tag/v1.5.2>`_
 
 #################
 Previous Versions
 #################
 
+.. include:: previous_versions/v3.5.1.rst
 .. include:: previous_versions/v3.5.0.rst
 .. include:: previous_versions/v3.4.0.rst
 .. include:: previous_versions/v3.3.0.rst
diff --git a/docs/rst/notes/previous_versions/v3.5.1.rst b/docs/rst/notes/previous_versions/v3.5.1.rst
new file mode 100644
index 000000000..a06e90ca7
--- /dev/null
+++ b/docs/rst/notes/previous_versions/v3.5.1.rst
@@ -0,0 +1,32 @@
+Version v3.5.1
+==============
+
+This release includes the following **Dependencies Update**:
+
+.. list-table::
+    :header-rows: 1
+
+    *   -
+        - Repository
+        - Old Version
+        - New Version
+    *   - Foonathan Memory Vendor
+        - `eProsima/foonathan_memory_vendor <https://github.com/eProsima/foonathan_memory_vendor>`_
+        - `v1.3.1 <https://github.com/eProsima/foonathan_memory_vendor/releases/tag/v1.3.1>`_
+        - `v1.4.1 <https://github.com/eProsima/foonathan_memory_vendor/releases/tag/v1.4.1>`_
+    *   - Fast CDR
+        - `eProsima/Fast-CDR <https://github.com/eProsima/Fast-CDR>`_
+        - `v2.3.4 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.3.4>`_
+        - `v2.3.5 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.3.5>`_
+    *   - Fast DDS
+        - `eProsima/Fast-DDS <https://github.com/eProsima/Fast-DDS>`_
+        - `v3.6.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v3.6.0>`_
+        - `v3.6.1 <https://github.com/eProsima/Fast-DDS/releases/tag/v3.6.1>`_
+    *   - Dev Utils
+        - `eProsima/dev-utils <https://github.com/eProsima/dev-utils>`_
+        - `v1.5.0 <https://github.com/eProsima/dev-utils/releases/tag/v1.5.0>`__
+        - `v1.5.1 <https://github.com/eProsima/dev-utils/releases/tag/v1.5.1>`__
+    *   - DDS Pipe
+        - `eProsima/DDS-Pipe <https://github.com/eProsima/DDS-Pipe.git>`_
+        - `v1.5.0 <https://github.com/eProsima/DDS-Pipe/releases/tag/v1.5.0>`__
+        - `v1.5.1 <https://github.com/eProsima/DDS-Pipe/releases/tag/v1.5.1>`__
diff --git a/docs/rst/user_manual/configuration.rst b/docs/rst/user_manual/configuration.rst
index d58d1600e..0f8f71853 100644
--- a/docs/rst/user_manual/configuration.rst
+++ b/docs/rst/user_manual/configuration.rst
@@ -27,7 +27,7 @@ This value allows users to keep using the same YAML file with an old configurati
 
         *   - version 4.0
             - ``v4.0``
-            - *v3.5.1*
+            - *v3.5.3*
 
 
 **The current configuration version is v5.0**.
diff --git a/tools/ddsrouter_tool/package.xml b/tools/ddsrouter_tool/package.xml
index c519f398a..46b60ef2e 100644
--- a/tools/ddsrouter_tool/package.xml
+++ b/tools/ddsrouter_tool/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ddsrouter_tool</name>
-  <version>3.5.1</version>
+  <version>3.5.3</version>
   <description>
      *eprosima DDS Router* Application to execute a DDS Router from a YAML configuration file.
   </description>