diff --git a/.github/workflows/doxygen.yml b/.github/workflows/doxygen.yml
new file mode 100644
index 00000000..df6c4cfb
--- /dev/null
+++ b/.github/workflows/doxygen.yml
@@ -0,0 +1,36 @@
+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
+      run: cp doc/Doxyfile.in Doxyfile
+
+    - name: Create documentation directory
+      run: mkdir -p docs
+
+    - name: Generate Doxygen documentation
+      run: doxygen Doxyfile
+
+    - 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: ./docs/html
diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in
index 848559b5..fc80ff7c 100644
--- a/doc/Doxyfile.in
+++ b/doc/Doxyfile.in
@@ -32,13 +32,13 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "@PROJECT_NAME@"
+PROJECT_NAME           = "libfranka"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = "@PROJECT_VERSION@"
+PROJECT_NUMBER         = "0.14.0"
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
@@ -51,14 +51,14 @@ PROJECT_BRIEF          = "FCI C++ API"
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.
 
-PROJECT_LOGO           = @CMAKE_CURRENT_SOURCE_DIR@/Logo_FRANKA_ROBOTICS_dark.png
+PROJECT_LOGO           = doc/Logo_FRANKA_ROBOTICS_dark.png
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
 # into which the generated documentation will be written. If a relative path is
 # 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