diff --git a/docs/notes/previous_versions/supported_versions.rst b/docs/notes/previous_versions/supported_versions.rst
index 51991445d..943d94120 100644
--- a/docs/notes/previous_versions/supported_versions.rst
+++ b/docs/notes/previous_versions/supported_versions.rst
@@ -9,6 +9,7 @@ Version 2.14
 Version 2.13
 ------------
 
+.. include:: v2.13.4.rst
 .. include:: v2.13.3.rst
 .. include:: v2.13.2.rst
 .. include:: v2.13.1.rst
diff --git a/docs/notes/previous_versions/v2.13.4.rst b/docs/notes/previous_versions/v2.13.4.rst
new file mode 100644
index 000000000..d5beef3b3
--- /dev/null
+++ b/docs/notes/previous_versions/v2.13.4.rst
@@ -0,0 +1,41 @@
+`Version 2.13.4 <https://fast-dds.docs.eprosima.com/en/v2.13.4/index.html>`_
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This release includes the following **features** in an ABI compatible manner:
+
+#. Expose :ref:`Authentication Handshake Properties<property_policies_security>`
+
+This release includes the following **improvements**:
+
+#. Monitor service properly managing instances
+#. Effectively assert ``AUTOMATIC`` / ``MANUAL_BY_PARTICIPANT`` liveliness
+#. Add catch of out-of-range exception for thread settings port
+#. TCP transport improvements:
+
+    #. ``TCPSendResources`` cleanup
+    #. TCP first message loss
+    #. Set real TCP ``non_blocking_send`` limitation
+
+This release includes the following **fixes**:
+
+#. Fix hidden overloaded virtual methods
+#. Fix Discovery Server over TCP using logical port
+#. Protect asio exception fix
+#. Fix flaky Log tests
+#. Fix CVE-2024-28231
+#. Add missing virtual destructor for StatisticsAncillary
+#. Increase ack waiting time in ``reliable_on_unack_sample_removed``
+#. Fix versions in fastrtps.repos
+#. GitHub CI fixes:
+
+    #. Fix CI version management
+    #. Add manual Ubuntu Github CI
+    #. Avoid running GitHub CI if PR has conflicts
+    #. Migrate apt package installation action to eProsima-CI
+    #. Only run PRs CI when review requested
+    #. Pin CMake version and ``vm.mmap_rnd_bits`` in sanitizer workflows
+    #. Improve filtering of DNS tests
+
+.. note::
+  When upgrading to version 2.13.4 it is **advisable** to regenerate generated source from IDL files
+  using `Fast DDS-Gen v3.2.1 <https://github.com/eProsima/Fast-DDS-Gen/releases/tag/v3.2.1>`_.
diff --git a/docs/notes/versions.rst b/docs/notes/versions.rst
index 9d0dcf6e6..22225f270 100644
--- a/docs/notes/versions.rst
+++ b/docs/notes/versions.rst
@@ -364,7 +364,7 @@ Fast DDS as the core middleware.
             * - `Fast DDS python <https://github.com/eProsima/Fast-DDS-python/>`__
               - `v1.4.0 <https://github.com/eProsima/Fast-DDS-python/releases/tag/v1.4.0>`__
             * - `Shapes Demo <https://github.com/eProsima/ShapesDemo/>`__
-              - `v2.13.3 <https://github.com/eProsima/ShapesDemo/releases/tag/v2.13.3>`__
+              - `v2.13.4 <https://github.com/eProsima/ShapesDemo/releases/tag/v2.13.4>`__
 
     .. group-tab:: 2.10.x