diff --git a/.version b/.version
index 84b79ec8..300ac65c 100644
--- a/.version
+++ b/.version
@@ -1 +1 @@
-v5.19.0
\ No newline at end of file
+v5.20.0
\ No newline at end of file
diff --git a/CHANGELOG.md b/CHANGELOG.md
index bc04e5a2..f5673ea8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,17 @@
 # Change Log
 
+## [v5.20.0](https://github.com/auth0/ruby-auth0/tree/v5.20.0) (2026-05-29)
+[Full Changelog](https://github.com/auth0/ruby-auth0/compare/v5.19.0...v5.20.0)
+
+**Changed**
+- Support jwt gem 3.x alongside 2.x [\#726](https://github.com/auth0/ruby-auth0/pull/726) ([dan98765](https://github.com/dan98765))
+
+**Fixed**
+- Fix YARD comment with extra space [\#637](https://github.com/auth0/ruby-auth0/pull/637) ([qtro](https://github.com/qtro))
+
+**Security**
+- chore(deps): bump jwt from 3.1.2 to 3.2.0 [\#745](https://github.com/auth0/ruby-auth0/pull/745) ([dependabot[bot]](https://github.com/apps/dependabot))
+
 ## [v5.19.0](https://github.com/auth0/ruby-auth0/tree/v5.19.0) (2026-05-08)
 [Full Changelog](https://github.com/auth0/ruby-auth0/compare/v5.18.1...v5.19.0)
 
diff --git a/Gemfile.lock b/Gemfile.lock
index ca581d3e..5e620c17 100644
--- a/Gemfile.lock
+++ b/Gemfile.lock
@@ -1,7 +1,7 @@
 PATH
   remote: .
   specs:
-    auth0 (5.19.0)
+    auth0 (5.20.0)
       addressable (~> 2.8)
       jwt (>= 2.7, < 4.0)
       rest-client (~> 2.1)
diff --git a/lib/auth0/version.rb b/lib/auth0/version.rb
index 78f1e0a6..9bf9628c 100644
--- a/lib/auth0/version.rb
+++ b/lib/auth0/version.rb
@@ -1,4 +1,4 @@
 # current version of gem
 module Auth0
-  VERSION = '5.19.0'.freeze
+  VERSION = '5.20.0'.freeze
 end