diff --git a/doc/conf.py b/doc/conf.py
index 5af6ce51fc..ff54dd2cc4 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -86,6 +86,7 @@ extensions = [
     "zephyr.dtcompatible-role",
     "zephyr.link-roles",
     "sphinx_tabs.tabs",
+    "sphinx_sitemap",
     "zephyr.warnings_filter",
     "zephyr.doxyrunner",
     "zephyr.gh_utils",
@@ -351,6 +352,10 @@ graphviz_dot_args = [
 copybutton_prompt_text = r"\$ |uart:~\$ "
 copybutton_prompt_is_regexp = True
 
+# -- Options for sphinx-sitemap ----------------------------------------
+
+sitemap_url_scheme = "{link}"
+
 # -- Linkcheck options ----------------------------------------------------
 
 linkcheck_ignore = [
diff --git a/doc/requirements.txt b/doc/requirements.txt
index 9655cc6b43..983a29d2f1 100644
--- a/doc/requirements.txt
+++ b/doc/requirements.txt
@@ -9,6 +9,7 @@ pygments>=2.9
 sphinx-notfound-page
 sphinx-copybutton
 sphinx-togglebutton
+sphinx-sitemap
 
 # YAML validation. Used by zephyr_module.
 PyYAML>=6.0