iOS 6.1 beta 5 has been released and is available for all registered developers to download through the iOS Dev Center. Supported devices continue to be iPad 2, iPad 3, iPad 4, iPad mini, iPhone 5, iPhone 4S, iPhone 4, iPhone 3GS, and the iPod touch 4th and 5th generations. The prior beta build of iOS 6.1 is set to expire today (January 27) and was pushed out to developers over a month ago, making todays release a timely update for developers.
For those not in the developer program, iOS 6.1 is expected to be an extraordinarily minor update on the user end of things, consisting primarily of bug fixes alongside some improvements to Apple Maps, Passbook, Siri, and Safari. Several small adjustments to user interface elements have also been observed in the 6.1 betas.
There is no known timeline for the public release of iOS 6.1, but it is likely due sooner than later.
Those interested can read about some of the minor changes at MacRumors forums