I recently changed my preferred structure for changelog files. Examples of the old structure are shown in the Qprompt changelog while the new structure is shown in the PopPage changelog.
The new structure is based on suggestions from Keep A Changelog. Liking the clarity and brevity of this style, I updated the changelog section in the Unified Style Guide to incorporate their suggestions.
While I don't plan to update old changelogs, new changelogs will definitely adopt this new style.
So do yourself and everyone else a favor: keep a changelog!