diff --git a/CHANGELOG.md b/CHANGELOG.md
index 627e56f3d7..60dac6c9d9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Fixed
 - Remove a lot of warnings ([#2139](https://github.com/stack-of-tasks/pinocchio/pull/2139))
+- `MeshcatVisualizer` doesn't crash anymore when there is no collision model defined ([#2147](https://github.com/stack-of-tasks/pinocchio/pull/2147))
 
 ### Added
 - Add `examples/floating-base-velocity-viewer.py` to visualize floating base velocity [#2143](https://github.com/stack-of-tasks/pinocchio/pull/2143)