diff --git a/.github/workflows/continuous-integration.yml b/.github/workflows/continuous-integration.yml
index 6c4961163..e8242c54d 100644
--- a/.github/workflows/continuous-integration.yml
+++ b/.github/workflows/continuous-integration.yml
@@ -14,7 +14,6 @@ jobs:
   test:
     name: test
     runs-on: ${{ matrix.os }}
-    continue-on-error: ${{ startsWith(matrix.python-version, '3.10')}}
     strategy:
       # Allow other matrix jobs to complete if 1 fails
       fail-fast: false
@@ -23,7 +22,7 @@ jobs:
           - "3.7"
           - "3.8"
           - "3.9"
-          - "3.10.0-rc.1"
+          - "3.10"
         os:
           - ubuntu-latest
           - windows-latest
@@ -38,10 +37,8 @@ jobs:
           python-version: ${{ matrix.python-version }}
 
       - uses: actions-rs/toolchain@v1
-        # No wheels exist for orjson on Python 3.10 on MacOS or Windows, and the Linux
-        #  wheels are sometimes not uploaded until after the package is initially
-        # published. This sets up the Rust nightly toolchain so we can build the orjson
-        # wheel.
+        # Wheels for orjson on Python 3.10 are still spotty on MacOS or Windows. This sets up the Rust
+        # toolchain so we can build the orjson wheel.
         if: ${{ startsWith(matrix.python-version, '3.10')}}
         with:
           toolchain: stable
@@ -142,7 +139,7 @@ jobs:
           - "3.7"
           - "3.8"
           - "3.9"
-          - "3.10.0-rc.1"
+          - "3.10"
 
     steps:
       - uses: actions/checkout@v2
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9f96a34ae..1e7e471ff 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,7 @@
 ### Added
 
 - Added Table-extension ([#646](https://github.com/stac-utils/pystac/pull/646))
+- Stable support for Python 3.10 ([#656](https://github.com/stac-utils/pystac/pull/656))
 
 ### Removed
 
diff --git a/README.md b/README.md
index b9558488e..64141dc13 100644
--- a/README.md
+++ b/README.md
@@ -16,8 +16,9 @@ for Python versions. This means that users can expect support for Python 3.7 to
 removed from the `main` branch after Dec 26, 2021 and therefore from the next release
 after that date.
 
-*Support for Python >= 3.10 should be considered experimental
-until further notice.*
+Note that while we support Python 3.10.\*, wheels for the `orjson` library are not always immediately available for all
+platforms. If you install PySTAC with the `orjson` extra, you may need to have the Rust toolchain installed (e.g. via [rustup](https://rustup.rs/)) in order to
+build the package from source.
 
 PySTAC has a single required dependency (`python-dateutil`).
 PySTAC can be installed from pip or the source repository.