diff --git a/CHANGES.rst b/CHANGES.rst
index 25fb598..a974d62 100644
--- a/CHANGES.rst
+++ b/CHANGES.rst
@@ -28,6 +28,9 @@ other
 - Register all available asdf extension manifests from ``asdf-wcs-schemas``
   except 1.0.0 (which contains duplicate tag versions). [#469]
 
+- Register empty extension for 1.0.0 to avoid warning about a missing
+  extension when opening old files. [#475]
+
 
 0.18.3 (2022-12-23)
 -------------------
diff --git a/gwcs/extension.py b/gwcs/extension.py
index 33eefa7..3d74695 100644
--- a/gwcs/extension.py
+++ b/gwcs/extension.py
@@ -1,7 +1,7 @@
 # Licensed under a 3-clause BSD style license - see LICENSE.rst
 import importlib.resources
 
-from asdf.extension import ManifestExtension
+from asdf.extension import Extension, ManifestExtension
 from .converters.wcs import (
     CelestialFrameConverter, CompositeFrameConverter, FrameConverter,
     Frame2DConverter, SpectralFrameConverter, StepConverter,
@@ -58,6 +58,20 @@ TRANSFORM_EXTENSIONS = [
     if len(WCS_MANIFEST_URIS) == 1 or '1.0.0' not in uri
 ]
 
+# if we don't register something for the 1.0.0 extension/manifest
+# opening old files will issue AsdfWarning messages stating that
+# the file was produced with an extension that is not installed
+# As the 1.0.1 and 1.1.0 extensions support all the required tags
+# it's not a helpful warning so here we register an 'empty'
+# extension for 1.0.0 which doesn't support any tags or types
+# but will be installed into asdf preventing the warning
+if len(TRANSFORM_EXTENSIONS) > 1:
+    class _EmptyExtension(Extension):
+        extension_uri = 'asdf://asdf-format.org/astronomy/gwcs/extensions/gwcs-1.0.0'
+        legacy_class_names=["gwcs.extension.GWCSExtension"]
+
+    TRANSFORM_EXTENSIONS.append(_EmptyExtension())
+
 
 def get_extensions():
     """

diff --git a/gwcs/tests/test_extension.py b/gwcs/tests/test_extension.py
new file mode 100644
index 0000000..34a5057
--- /dev/null
+++ b/gwcs/tests/test_extension.py
@@ -0,0 +1,58 @@
+import io
+import warnings
+
+import asdf
+import asdf_wcs_schemas
+import gwcs.extension
+
+import pytest
+
+
+@pytest.mark.skipif(asdf_wcs_schemas.__version__ < "0.2.0", reason="version 0.2 provides the new manifests")
+def test_empty_extension():
+    """
+    Test that an empty extension was installed for gwcs 1.0.0
+    and that extensions are installed for gwcs 1.0.1 and 1.1.0
+    """
+    extensions = gwcs.extension.get_extensions()
+    assert len(extensions) > 1
+
+    extensions_by_uri = {ext.extension_uri: ext for ext in extensions}
+
+    # check for duplicate uris
+    assert len(extensions_by_uri) == len(extensions)
+
+    # check that all 3 versions are installed
+    for version in ('1.0.0', '1.0.1', '1.1.0'):
+        assert f"asdf://asdf-format.org/astronomy/gwcs/extensions/gwcs-{version}" in extensions_by_uri
+
+    # the 1.0.0 extension should support no tags or types
+    legacy = extensions_by_uri["asdf://asdf-format.org/astronomy/gwcs/extensions/gwcs-1.0.0"]
+    assert len(legacy.tags) == 0
+    assert len(legacy.converters) == 0
+
+
+def test_open_legacy_without_warning():
+    """
+    Opening a file produced with extension 1.0.0 should not produce any
+    warnings because of the empty extension registered for 1.0.0
+    """
+    asdf_bytes = b"""#ASDF 1.0.0
+#ASDF_STANDARD 1.5.0
+%YAML 1.1
+%TAG ! tag:stsci.edu:asdf/
+--- !core/asdf-1.1.0
+asdf_library: !core/software-1.0.0 {author: The ASDF Developers, homepage: 'http://github.com/asdf-format/asdf',
+  name: asdf, version: 2.9.2}
+history:
+  extensions:
+  - !core/extension_metadata-1.0.0
+    extension_class: asdf.extension._manifest.ManifestExtension
+    extension_uri: asdf://asdf-format.org/astronomy/gwcs/extensions/gwcs-1.0.0
+    software: !core/software-1.0.0 {name: gwcs, version: 0.18.0}
+foo: 1
+..."""
+    with warnings.catch_warnings():
+        warnings.simplefilter("error")
+        with asdf.open(io.BytesIO(asdf_bytes)) as af:
+            assert af['foo'] == 1

Consider adding a description in the docs about manifest changes in #469
As brought up in this comment:
https://github.com/spacetelescope/jdaviz/issues/2446#issuecomment-1716413809

Users opening files generated with gwcs prior to the fix included in #469 will see warnings like the following:
```
asdf.exceptions.AsdfWarning: File was created with extension URI 'asdf://asdf-format.org/astronomy/gwcs/extensions/gwcs-1.0.0' (from package gwcs==0.18.2), which is not currently installed 
```
Due to `1.0.0` no longer being registered as an extension. As `1.0.1` and `1.1.0` cover all tags from `1.0.0` it is safe to ignore this warning but this nuance will likely be unknown to gwcs users.

One option would be to update the documentation and release notes describing the issue and can be ignored until the file can e regenerate (which will get rid of the warning).

I'm also open to suggestions on other ways to handle this (including possibly registering a 'dummy' `1.0.0` extension which does nothing yet should hide the warning). @nden @eslavich do you think this is worth investigating as an option?
gwcs/tests/test_extension.py::test_empty_extension gwcs/tests/test_extension.py::test_open_legacy_without_warning