diff --git a/doc/releases/release-notes-3.3.rst b/doc/releases/release-notes-3.3.rst
index fd65d07af64..f2436636705 100644
--- a/doc/releases/release-notes-3.3.rst
+++ b/doc/releases/release-notes-3.3.rst
@@ -252,6 +252,10 @@ Libraries / Subsystems
     enabled and the command is sent on the same UART as the logging system, in
     which a filesystem error was emitted.
 
+* LwM2M
+
+  * The ``lwm2m_senml_cbor_*`` files have been regenerated using zcbor 0.6.0.
+
 HALs
 ****
 
@@ -261,6 +265,19 @@ MCUboot
 Trusted Firmware-M
 ******************
 
+zcbor
+*****
+
+Upgraded zcbor to 0.6.0. Among other things, this brings in a few convenient
+changes for Zephyr:
+
+* In the zcbor codebase, the ``ARRAY_SIZE`` macro has been renamed to
+  ``ZCBOR_ARRAY_SIZE`` to not collide with Zephyr's :c:macro:`ARRAY_SIZE` macro.
+* The zcbor codebase now better supports being used in C++ code.
+
+The entire release notes can be found at
+https://github.com/zephyrproject-rtos/zcbor/blob/0.6.0/RELEASE_NOTES.md
+
 Documentation
 *************
 
diff --git a/west.yml b/west.yml
index dd64150442e..1b934f3741e 100644
--- a/west.yml
+++ b/west.yml
@@ -253,7 +253,7 @@ manifest:
       revision: e8920192b66db4f909eb9cd3f155d5245c1ae825
       path: modules/lib/uoscore-uedhoc
     - name: zcbor
-      revision: a0d6981f14d4001d6f0d608d1a427f9bc6bb6d02
+      revision: 0.6.0
       path: modules/lib/zcbor
     - name: zscilib
       path: modules/lib/zscilib