diff --git a/.github/workflows/pr-changelog-check.yml b/.github/workflows/pr-changelog-check.yml
new file mode 100644
index 00000000..261471cc
--- /dev/null
+++ b/.github/workflows/pr-changelog-check.yml
@@ -0,0 +1,14 @@
+name: Pull request changelog check
+on:
+  pull_request:
+    types: [opened, labeled, unlabeled, synchronize]
+jobs:
+  build:
+    if: ${{ !(contains(github.event.pull_request.labels.*.name, 'changelog-not-required')) }}
+    name: Run changelog check
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out the code
+        uses: actions/checkout@v2
+      - name: Changelog check
+        run: ./scripts/changelog-check.sh
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diff --git a/CHANGELOG.md b/CHANGELOG.md
new file mode 100644
index 00000000..54c96d48
--- /dev/null
+++ b/CHANGELOG.md
@@ -0,0 +1,20 @@
+# Changelog
+All notable changes to this project will be documented in this file.
+
+## [Unreleased]
+https://github.com/Zokrates/ZoKrates/compare/master...develop
+
+## [0.6.4] - 2021-03-19
+### Release
+- https://github.com/Zokrates/ZoKrates/releases/tag/0.6.4
+
+### Changes
+- re-include embeds for a slightly cheaper sha256
+- remove array ssa
+- add flag to allow unconstrained variables
+- better flattening of conjunctions
+- put backends behind features
+- accept any assignee in multidef
+- minor performance and stability improvements
+
+For older releases and changes, visit https://github.com/Zokrates/ZoKrates/releases.
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diff --git a/changelogs/README.md b/changelogs/README.md
new file mode 100644
index 00000000..616fb49b
--- /dev/null
+++ b/changelogs/README.md
@@ -0,0 +1,14 @@
+## Adding a changelog
+
+Pull request authors are expected to include a changelog file explaining the changes introduced by the pull request. 
+The changelog file should be a new file created in the `changelogs/unreleased` folder. 
+The file should follow the naming convention of `pr-username` and the contents of the file 
+should be your text for the changelog.
+
+### Example
+```
+changelogs/unreleased   # folder to place changelogs
+    101-username        # your changelog file (pull request #101 by @username)
+```
+
+Any user-facing change must have a changelog entry. If a pull request does not warrant a changelog, the CI check for a changelog can be skipped by applying a `changelog-not-required` label.
diff --git a/changelogs/unreleased/.gitkeep b/changelogs/unreleased/.gitkeep
new file mode 100644
index 00000000..e69de29b
diff --git a/scripts/changelog-check.sh b/scripts/changelog-check.sh
new file mode 100755
index 00000000..24d1e68f
--- /dev/null
+++ b/scripts/changelog-check.sh
@@ -0,0 +1,24 @@
+#!/bin/bash
+
+set +x
+
+if [ -z "$CI" ]; then
+   echo "This script is intended to be run only on Github Actions." >&2
+   exit 1
+fi
+
+CHANGELOG_PATH='changelogs/unreleased'
+
+pr_number=$(echo $GITHUB_REF | cut -d / -f 3)
+changelog="${CHANGELOG_PATH}/${pr_number}-*"
+
+if [ ! -f "$changelog" ]; then
+    echo "Pull request #${pr_number:-?} is missing a changelog. Please add a changelog to ${CHANGELOG_PATH}."
+    exit 1
+fi
+
+cl_diff=$(git diff --exit-code $GITHUB_HEAD_REF CHANGELOG.md)
+if [ -n "$cl_diff" ]; then
+    echo "Pull requests should not directly modify the main CHANGELOG.md file. For more information, please read changelogs/README.md"
+    exit 1
+fi
\ No newline at end of file
diff --git a/scripts/changelog.sh b/scripts/changelog.sh
new file mode 100755
index 00000000..b8d87773
--- /dev/null
+++ b/scripts/changelog.sh
@@ -0,0 +1,47 @@
+#!/bin/bash
+
+# This script is intended for maintainers only to generate changelog markdown before new releases.
+# The generated markdown can be added to the main CHANGELOG.md file located at the root of the repository.
+
+set -e
+
+if [ -z "$1" ]; then
+   echo "Usage: $0 TAG" >&2
+   exit 1
+fi
+
+function join { local IFS="$1"; shift; echo "$*"; }
+function qdate
+{
+    if type -p gdate > /dev/null; then
+        gdate "$@";
+    else
+        date "$@";
+    fi
+}
+
+CHANGELOG_PATH='changelogs/unreleased'
+
+tag=$1
+unreleased=$(ls -t ${CHANGELOG_PATH})
+
+echo -e "Generating CHANGELOG markdown from ${CHANGELOG_PATH}\n"
+cat << EOT
+## [${tag}] - $(qdate '+%Y-%m-%d')
+
+### Release
+- https://github.com/Zokrates/ZoKrates/releases/tag/${tag}
+
+### Changes
+EOT
+
+for file in $unreleased
+do
+    IFS=$'-' read -ra entry <<< "$file"
+    contents=$(cat ${CHANGELOG_PATH}/${file} | tr '\n' ' ')
+    author=$(join '-' ${entry[@]:1})
+    echo "- ${contents} (#${entry[0]}, @${author})"
+done
+
+echo -e "\nCopy and paste the markdown above to the appropriate CHANGELOG file."
+echo "Be sure to run: git rm ${CHANGELOG_PATH}/*"
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