diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4f91bd9b4405d..849cf7b636bd8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,7 +24,7 @@ project(dart)
 
 set(DART_MAJOR_VERSION "4")
 set(DART_MINOR_VERSION "3")
-set(DART_PATCH_VERSION "2")
+set(DART_PATCH_VERSION "3")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
 set(DART_PKG_EXTERNAL_DEPS "flann, ccd, fcl")
diff --git a/Changelog.md b/Changelog.md
index 654ea8632322a..53bb8f2fb2e52 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,3 +1,8 @@
+### Version 4.3.3 (2015-01-23)
+
+1. Fixed joint Coulomb friction
+    * [Pull request #311](https://github.com/dartsim/dart/pull/311)
+
 ### Version 4.3.2 (2015-01-22)
 
 1. Fixed installation -- missing headers (utils/urdf, utils/sdf)
diff --git a/debian/changelog b/debian/changelog
index b66ca2b41048a..ee383f066ed0f 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,14 +1,20 @@
+dart (4.3.3) unstable; urgency=low
+
+  * Fixed joint Coulomb friction
+
+ -- Jeongseok Lee <jslee02@gmail.com>  Fri, 23 Jan 2015 19:00:00 -0500
+
 dart (4.3.2) unstable; urgency=low
 
   * Fixed installation -- missing headers (utils/urdf, utils/sdf)
 
- -- Jeongseok Lee <jslee02@gmail.com>  Mon, 22 Jan 2015 10:00:00 -0500
+ -- Jeongseok Lee <jslee02@gmail.com>  Thu, 22 Jan 2015 10:00:00 -0500
 
 dart (4.3.1) unstable; urgency=low
 
   * Fixed API incompatibility introduced by dart-4.3.0
 
- -- Jeongseok Lee <jslee02@gmail.com>  Mon, 21 Jan 2015 22:00:00 -0500
+ -- Jeongseok Lee <jslee02@gmail.com>  Wed, 21 Jan 2015 22:00:00 -0500
 
 dart (4.3.0) unstable; urgency=low
 
diff --git a/tools/abi_check.sh b/tools/abi_check.sh
index f263acf1aba87..ee00fdbbc8ea1 100755
--- a/tools/abi_check.sh
+++ b/tools/abi_check.sh
@@ -27,6 +27,7 @@ print_valid_version_numbers()
     echo "    4.3.0"
     echo "    4.3.1"
     echo "    4.3.2"
+    echo "    4.3.3"
     exit 1
 }
 
@@ -56,8 +57,11 @@ case "$VERSION_NUMBER" in
 	        BRANCH_NAME="tags/v4.3.1"
 	        break;;
 	    4.3.2)
-	        BRANCH_NAME="tags/v4.3.2"
-	        break;;
+            BRANCH_NAME="tags/v4.3.2"
+            break;;
+        4.3.3)
+            BRANCH_NAME="tags/v4.3.3"
+            break;;
         *)
             echo "Invalid version number: ${VERSION_NUMBER}"
             print_valid_version_numbers