Here is what I ended up with ($LIQUIBASE
expands to the Liquibase command line tool configured for the particular DB I was using).
Generate a baseline changelog from the current state of the Production DB:
$LIQUIBASE --url=$PROD_URL --changeLogFile=changeLog.xml generateChangeLog
Record Production as being in sync with the change log:
$LIQUIBASE --url=$PROD_URL --changeLogFile=changeLog.xml changeLogSync
Calculate the differences between Development and Production, and append them to the change log file:
$LIQUIBASE --url=$PROD_URL --referenceUrl=$DEV_URL --changeLogFile=changeLog.xml diffChangeLog
Bring Production in sync with Development:
$LIQUIBASE --url=$PROD_URL --changeLogFile=changeLog.xml update
Record Development as being in sync with the change log:
$LIQUIBASE --url=$DEV_URL --changeLogFile=changeLog.xml changeLogSync