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Please refer to our reference documents page (https://www.ptc.com/en/support/refdoc) using Creo Parametric for Product, enter a desired release, and use Configuration Options.
The main documents will have a "what's changed from...." section, such as the one for Creo 3.0 (see table of contents on page 4) https://www.ptc.com/support/-/media/9972AF0B3EA6424ABAAD1AC929C35693.pdf?sc_lang=en
For Creo 4.0 & 5.0, customer may select File > Help > Reference (this is noted in our Updating checklist articles such as https://www.ptc.com/en/support/article?n=CS281699)