iOS 7 has been in development for a couple months and today Apple has made it available to the public. The update brings many minor changes that improves the stability of iOS 7. Changes includes improvements to Touch ID on the iPhone 5S, many bug fixes on the iPhone 4, UI refinement, automatic HDR, new settings, and CarPlay.
The update is compatible with the iPhone 4 and higher, iPad 2 and higher, iPod Touch 5th Generation, and both iPad Mini models. Make sure to go download it now before the servers get flooded!