diff --git a/.readthedocs.yaml b/.readthedocs.yaml
index 7b0ae3ecc..ea9e577d0 100644
--- a/.readthedocs.yaml
+++ b/.readthedocs.yaml
@@ -5,10 +5,9 @@ build:
   tools:
     python: "3.10"
 
-python:
-  install:
-    - requirements: docs/requirements.txt
-    
+conda:
+  environment: docs/jaxsim_conda_env.yml
+
 sphinx:
   configuration: docs/conf.py
 
diff --git a/docs/jaxsim_conda_env.yml b/docs/jaxsim_conda_env.yml
new file mode 100644
index 000000000..01a8fc864
--- /dev/null
+++ b/docs/jaxsim_conda_env.yml
@@ -0,0 +1,23 @@
+name: jaxsim
+channels:
+  - conda-forge
+  - nvidia
+dependencies:
+  - python=3.11
+  - jax
+  - jax-dataclasses
+  - jaxlib=*=*cuda*
+  - jaxlie
+  - cuda-nvcc
+  - rod
+  - coloredlogs
+  - sphinx
+  - sphinx-fontawesome
+  - sphinx-multiversion
+  - sphinx_rtd_theme
+  - pip
+  - pptree
+  - scipy
+  - pip:
+    - sphinx_autodoc_typehints
+    - sphinx_copybutton 
diff --git a/docs/requirements.txt b/docs/requirements.txt
deleted file mode 100644
index 681792fec..000000000
--- a/docs/requirements.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-jax
-jax_dataclasses
-jaxlib
-jaxlie
-rod
-coloredlogs
-sphinx==7.1.2
-sphinx-rtd-theme==1.3.0rc1
-sphinx_autodoc_typehints
-sphinx_copybutton