diff --git a/.github/workflows/doxygen.yml b/.github/workflows/doxygen.yml
new file mode 100644
index 00000000..7c2d69e7
--- /dev/null
+++ b/.github/workflows/doxygen.yml
@@ -0,0 +1,30 @@
+name: Generate Doxygen documentation
+
+on:
+  push:
+    branches:
+      - PRCUN-2883-update-doxygen
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  doxygen:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v3
+
+    - name: Install Doxygen
+      run: sudo apt-get install doxygen graphviz -y
+
+    - name: Generate Doxygen configuration and build it
+      run: mkdir -p doc/build && cd doc/build && cmake .. && make doc
+
+    - name: Deploy to GitHub Pages
+      if: ${{ github.ref == 'refs/heads/PRCUN-2883-update-doxygen' }}
+      uses: peaceiris/actions-gh-pages@v3
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        publish_dir: .build/docs/html
diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in
index 848559b5..c6521524 100644
--- a/doc/Doxyfile.in
+++ b/doc/Doxyfile.in
@@ -58,7 +58,7 @@ PROJECT_LOGO           = @CMAKE_CURRENT_SOURCE_DIR@/Logo_FRANKA_ROBOTICS_dark.pn
 # entered, it will be relative to the location where doxygen was started. If
 # left blank the current directory will be used.
 
-OUTPUT_DIRECTORY       =
+OUTPUT_DIRECTORY       = docs
 
 # If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
 # directories (in 2 levels) under the output directory of each output format and