diff --git a/doc/_static/css/custom.css b/doc/_static/css/custom.css
index 7b1f513aa5..a374fda4d3 100644
--- a/doc/_static/css/custom.css
+++ b/doc/_static/css/custom.css
@@ -552,7 +552,10 @@ kbd, .kbd,
     background-color: var(--navbar-background-color-active);
 }
 
-.wy-side-nav-search input[type="text"] {
+.wy-side-nav-search input[type=search] {
+    width: 100%;
+    border-radius: 50px;
+    padding: 6px 12px;
     background-color: var(--input-background-color);
     color: var(--body-color);
     /* Avoid reflowing when toggling the focus state */
@@ -563,11 +566,11 @@ kbd, .kbd,
     font-size: 14px;
 }
 
-.wy-side-nav-search input[type="text"]:focus {
+.wy-side-nav-search input[type="search"]:focus {
     border: 2px solid var(--input-focus-border-color);
 }
 
-.wy-side-nav-search input[type="text"]::placeholder {
+.wy-side-nav-search input[type="search"]::placeholder {
     color: var(--body-color);
     opacity: 0.55;
 }
@@ -889,3 +892,61 @@ dark-mode-toggle::part(toggleLabel){
    font-size: 3rem;
    color: white;
 }
+
+/* Custom search box, including search engine selection */
+
+.search-container {
+    position: relative;
+}
+
+#search-se-settings-icon {
+    position: absolute;
+    color: var(--body-color);
+    right: 10px;
+    top: 50%;
+    transform: translateY(-50%);
+    cursor: pointer;
+    opacity: 0.8;
+}
+
+#search-se-menu {
+    display: none;
+    position: absolute;
+    font-size: 11px;
+    background-color: var(--input-background-color);
+    color: var(--body-color);
+    right: 0px;
+    top: 36px;
+    border: solid 1px var(--body-color);
+    border-radius: 10px;
+    z-index: 1000;
+}
+
+#search-se-menu ul {
+    list-style: none;
+    margin: 0;
+    padding: 2px;
+}
+
+#search-se-menu ul li {
+    padding: 8px 12px;
+    cursor: pointer;
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    gap: 1em;
+}
+
+#search-se-menu [role="menuitemradio"]:focus {
+    background-color: var(--navbar-current-background-color-hover);
+    color: var(--navbar-level-1-color);
+    border-radius: 10px;
+}
+
+#search-se-menu ul li .fa-check {
+    display: none;
+  }
+
+  #search-se-menu ul li.selected .fa-check {
+    display: inline;
+  }
diff --git a/doc/_templates/gsearch.html b/doc/_templates/gsearch.html
new file mode 100644
index 0000000000..1953466355
--- /dev/null
+++ b/doc/_templates/gsearch.html
@@ -0,0 +1,17 @@
+{%- extends "!search.html" %}
+
+{%- block scripts %}
+  {{ super.super() }}
+  <link rel="stylesheet" href="{{ pathto('_static/css/gcs.css', 1) }}" type="text/css" />
+{%- endblock %}
+
+{% block footer %}
+  {{ super.super() }}
+{% endblock %}
+
+{% block body %}
+  <h2>{{ _('Search Results') }}</h2>
+  <script async src="https://cse.google.com/cse.js?cx={{ google_searchengine_id }}">
+  </script>
+  <div class="gcse-searchresults-only"></div>
+{% endblock %}
diff --git a/doc/_templates/search.html b/doc/_templates/search.html
deleted file mode 100644
index ee9343cce0..0000000000
--- a/doc/_templates/search.html
+++ /dev/null
@@ -1,28 +0,0 @@
-{%- extends "!search.html" %}
-{%- block scripts %}
-  {% if google_searchengine_id %}
-  {{ super.super() }}
-    <link rel="stylesheet" href="{{ pathto('_static/css/gcs.css', 1) }}" type="text/css" />
-  {% else %}
-    {{ super() }}
-  {% endif %}
-{%- endblock %}
-
-{% block footer %}
-  {% if google_searchengine_id %}
-    {{ super.super() }}
-  {% else %}
-    {{ super() }}
-  {% endif %}
-{% endblock %}
-
-{% block body %}
-  {% if google_searchengine_id %}
-    <h2>{{ _('Search Results') }}</h2>
-    <script async src="https://cse.google.com/cse.js?cx={{ google_searchengine_id }}">
-    </script>
-    <div class="gcse-searchresults-only"></div>
-  {% else %}
-    {{ super() }}
-  {% endif %}
-{% endblock %}
diff --git a/doc/_templates/searchbox.html b/doc/_templates/searchbox.html
new file mode 100644
index 0000000000..4779a49c03
--- /dev/null
+++ b/doc/_templates/searchbox.html
@@ -0,0 +1,130 @@
+{#
+  Override the default searchbox from RTD theme to provide the ability to select a search method
+  (ex. built-in search, Google Custom Search, ...)
+#}
+{%- if ('singlehtml' not in builder) %}
+<div class="search-container" role="search">
+  <form id="rtd-search-form" class="wy-form" action="{{ pathto('search') }}" method="get">
+    <input type="search" name="q" placeholder="{{ _('Search docs') }}"
+           aria-label="{{ _('Search docs') }}" />
+    {%- if google_searchengine_id is defined %}
+    <span id="search-se-settings-icon" class="fa fa-gear" role="button" tabindex="0"
+          title="Search settings" aria-label="Search settings"
+          aria-haspopup="true" aria-controls="search-se-menu" aria-expanded="false"
+          onclick="toggleSearchEngineSettingsMenu()">
+    </span>
+    <div id="search-se-menu" role="menu" aria-labelledby="search-se-settings-icon">
+      <ul>
+        <li id="search-se-menuitem-sphinx" role="menuitemradio" tabindex="-1"
+            aria-label="Built-in search" onclick="switchSearchEngine('sphinx')">
+          Built-in search <span class="fa fa-check">
+        </li>
+        <li id="search-se-menuitem-google" role="menuitemradio" tabindex="-1"
+            aria-label="Google search" onclick="switchSearchEngine('google')">
+          Google search <span class="fa fa-check">
+        </li>
+    </div>
+    {%- endif %}
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+{%- if google_searchengine_id is defined %}
+<script>
+(function () {
+  var form = document.getElementById("rtd-search-form");
+  var searchMenu = document.getElementById("search-se-menu");
+  var isBrowsingLatest = window.location.pathname.startsWith("/latest");
+  var preferenceKey = "search-se-" + (isBrowsingLatest ? "latest" : "default");
+  var query = new URLSearchParams(window.location.search).get("q");
+
+  if (query !== null) {
+    form.q.value = query;
+    form.q.focus();
+  }
+
+  // Load the saved search preference. Defaults to Google when browsing "/latest" documentation,
+  // built-in Sphinx search otherwise.
+  var engine = localStorage.getItem(preferenceKey);
+  if (engine === null) {
+    engine = isBrowsingLatest ? "google" : "sphinx";
+  }
+  setActiveSearchEngine(engine);
+
+  setSearchEngineSettingsMenuVisibility = function (visible) {
+    searchMenu.style.display = visible ? "block" : "none";
+    document
+      .getElementById("search-se-settings-icon")
+      .setAttribute("aria-expanded", visible ? "true" : "false");
+  };
+
+  window.toggleSearchEngineSettingsMenu = function () {
+    isVisible = searchMenu.style.display === "block";
+    setSearchEngineSettingsMenuVisibility(!isVisible);
+  };
+
+  function setActiveSearchEngine(engine) {
+    if(engine === "sphinx") {
+      form.action = "{{ pathto('search') }}";
+      form.q.placeholder = "Search docs (built-in search)";
+    } else {
+      form.action = "{{ pathto('gsearch') }}";
+      form.q.placeholder = "Search docs (powered by Google)";
+    }
+
+    var selectedElement = document.getElementById("search-se-menuitem-" + engine);
+    var otherElement = document.getElementById(
+      "search-se-menuitem-" + (engine === "sphinx" ? "google" : "sphinx")
+    );
+
+    selectedElement.classList.add("selected");
+    selectedElement.setAttribute("aria-checked", "true");
+    otherElement.classList.remove("selected");
+    otherElement.setAttribute("aria-checked", "false");
+  }
+
+  window.switchSearchEngine = function (engine) {
+    setActiveSearchEngine(engine);
+    localStorage.setItem(preferenceKey, engine);
+    setSearchEngineSettingsMenuVisibility(false);
+    form.q.focus();
+    if (form.q.value !== "") {
+      form.submit();
+    }
+  };
+
+  // Close the dropdown if the user clicks outside of it
+  window.onclick = function (event) {
+    if (!event.target.matches("#search-se-settings-icon")) {
+      if (searchMenu.style.display === "block") {
+        setSearchEngineSettingsMenuVisibility(false);
+      }
+    }
+  };
+
+  document.addEventListener("keydown", function (event) {
+    if(searchMenu.style.display === "none") return;
+
+    let menuItems = document.querySelectorAll('[role="menuitemradio"]');
+    let currentIndex = Array.from(menuItems).findIndex((item) => item === document.activeElement);
+
+    if (event.key === "ArrowDown" || event.key === "ArrowUp") {
+      let nextIndex = event.key === "ArrowDown" ? currentIndex + 1 : currentIndex - 1;
+
+      if (nextIndex >= menuItems.length) nextIndex = 0;
+      if (nextIndex < 0) nextIndex = menuItems.length - 1;
+
+      menuItems[nextIndex].focus();
+      event.preventDefault();
+    } else if (event.key === "Enter") {
+      let activeItem = document.activeElement;
+      if (activeItem && activeItem.getAttribute("role") === "menuitemradio") {
+        activeItem.click();
+        event.preventDefault();
+      }
+    }
+  });
+})();
+</script>
+{%- endif %}
+{%- endif %}
\ No newline at end of file
diff --git a/doc/conf.py b/doc/conf.py
index a01f51f687..af4b11fd0b 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -153,6 +153,9 @@ html_split_index = True
 html_show_sourcelink = False
 html_show_sphinx = False
 html_search_scorer = str(ZEPHYR_BASE / "doc" / "_static" / "js" / "scorer.js")
+html_additional_pages = {
+    "gsearch": "gsearch.html"
+}
 
 is_release = tags.has("release")  # pylint: disable=undefined-variable
 reference_prefix = ""