diff --git a/CHANGELOG.md b/CHANGELOG.md
index e12f7b62f46ebb99144e3f7a9f87e230edce3b7c..4928717f806f2e30ddd27931908cc64979d41c10 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,26 @@ This document accumulates all changes to Axii with the respective version
 ## Releases 23.01
 
 
+### Release [23.01.4.0](https://git.h2t.iar.kit.edu/sw/armarx/meta/axii/-/releases/23.01.4.0)
+
+**Update procedure**:
+
+- `axii self update`
+- (with workspace activated) `axii workspace verify`
+
+**Modules:**
+
+- `h2t/research_projects/eurobin/*`: Move euROBIN modules to external DB (@kartmann, !490, !492)
+- **New** `tools/nodejs/*`: Add modules for node and npm (@dreher, !489)
+- `armarx/skills/control`: Remove constraint of building project with 4 jobs (@dreher, !488)
+- **New** `armarx_integration/robots/armar6/*`: Add ARMAR-6 Models module (@dreher, !486)
+- **New** `deps/embedded_template_library`: Add embedded_template_library module (@pohl, !485)
+
+_Other:_
+
+- OS-specific apt CI caches and pip CI caches (@dreher, !487)
+
+
 ### Release [23.01.3.0](https://git.h2t.iar.kit.edu/sw/armarx/meta/axii/-/releases/23.01.3.0)
 
 **Update procedure**: