diff --git a/.github/workflows/doc-build.yml b/.github/workflows/doc-build.yml
index 70ed2dbbe01..55f6b6248d9 100644
--- a/.github/workflows/doc-build.yml
+++ b/.github/workflows/doc-build.yml
@@ -54,8 +54,7 @@ jobs:
 
     - name: build-docs
       run: |
-        source zephyr-env.sh
-        SPHINXOPTS="-q -W -j auto" make -C doc htmldocs
+        SPHINXOPTS="-q -W -j auto" make -C doc html
         tar cvf htmldocs.tar --directory=./doc/_build html
 
     - name: upload-build
diff --git a/doc/Makefile b/doc/Makefile
index af98dba4c93..07676827151 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -1,30 +1,31 @@
-#
-# Top level makefile for documentation build
-#
+# ------------------------------------------------------------------------------
+# Makefile for documentation build
+# SPDX-License-Identifier: Apache-2.0
 
 BUILDDIR ?= _build
 DOC_TAG ?= development
 SPHINXOPTS ?= -j auto
 KCONFIG_TURBO_MODE ?= 0
 
+# ------------------------------------------------------------------------------
 # Documentation targets
-# ---------------------------------------------------------------------------
 
-.PHONY: clean htmldocs htmldocs-fast pdfdocs doxygen
+.PHONY: configure clean html html-fast latex pdf doxygen
 
-htmldocs-fast:
-	${MAKE} htmldocs KCONFIG_TURBO_MODE=1
+html-fast:
+	${MAKE} html KCONFIG_TURBO_MODE=1
 
-htmldocs pdfdocs doxygen: configure
-	cmake --build ${BUILDDIR} -- $@  # -v # VERBOSE=1
+html latex pdf doxygen: configure
+	cmake --build ${BUILDDIR} --target $@
 
-# Run CMake every time cause it's quick and re-configures TURBO_MODE if
-# needed
-.PHONY: configure
 configure:
-	cmake -GNinja -B${BUILDDIR} -S. -DDOC_TAG=${DOC_TAG} \
+	cmake \
+		-GNinja \
+		-B${BUILDDIR} \
+		-S. \
+		-DDOC_TAG=${DOC_TAG} \
 		-DSPHINXOPTS="${SPHINXOPTS}" \
 		-DKCONFIG_TURBO_MODE=${KCONFIG_TURBO_MODE}
 
 clean:
-	rm -rf ${BUILDDIR}
+	cmake --build ${BUILDDIR} --target clean