diff --git a/.github/workflows/build-docs.yml b/.github/workflows/build-docs.yml
new file mode 100644
index 000000000..1ce5c2b96
--- /dev/null
+++ b/.github/workflows/build-docs.yml
@@ -0,0 +1,35 @@
+name: Docs build
+
+on:
+  push:
+    branches:
+      - master
+
+jobs:
+  docs_build:
+    name: Docs-Build
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout esp-protocols
+        uses: actions/checkout@master
+        with:
+          persist-credentials: false
+          fetch-depth: 0
+
+      - name: Generate docs
+        run: |
+          sudo apt-get update
+          sudo apt-get -y install doxygen clang python3-pip
+          python -m pip install breathe recommonmark
+          cd $GITHUB_WORKSPACE/components/esp_modem/docs
+          ./generate_docs
+          cd $GITHUB_WORKSPACE/docs
+          touch .nojekyll
+          echo '<a href="esp_modem/index.html">esp-modem</a>' > index.html
+
+      - name: Deploy generated docs
+        uses: JamesIves/github-pages-deploy-action@4.1.5
+        with:
+          branch: gh-pages
+          folder: docs
diff --git a/components/esp_modem/docs/conf.py b/components/esp_modem/docs/conf.py
index 4bfa938be..8a41ca248 100644
--- a/components/esp_modem/docs/conf.py
+++ b/components/esp_modem/docs/conf.py
@@ -16,7 +16,8 @@ copyright = u'2016 - 2021, Espressif Systems (Shanghai) Co., Ltd'
 # for a list of supported languages.
 language = 'en'
 
-extensions = ['breathe']
+extensions = ['breathe', 'recommonmark']
+
 
 breathe_projects = {'esp_modem': 'xml'}
 
diff --git a/components/esp_modem/docs/generate_docs b/components/esp_modem/docs/generate_docs
index 8a0c2715b..41855a97a 100755
--- a/components/esp_modem/docs/generate_docs
+++ b/components/esp_modem/docs/generate_docs
@@ -17,7 +17,9 @@ cat ../include/generate/esp_modem_command_declare.inc | clang -E -P  -xc -I../in
 doxygen
 
 # Generate the docs
-python -u -m sphinx.cmd.build -b html  . html
+
+mkdir -p ../../../docs/esp_modem
+python -u -m sphinx.cmd.build -b html  . ../../../docs/esp_modem
 
 # Cleanup the doxygen xml's and temporary headers
 rm -rf xml esp_modem_api_commands.h esp_modem_dce.hpp cxx_api_links.rst