diff --git a/doc/_doxygen/doxygen-awesome-zephyr.css b/doc/_doxygen/doxygen-awesome-zephyr.css
index 484fad896ae..b597aaa5013 100644
--- a/doc/_doxygen/doxygen-awesome-zephyr.css
+++ b/doc/_doxygen/doxygen-awesome-zephyr.css
@@ -20,6 +20,9 @@ html {
 
     --link-color: #2980b9;
     --param-color: #b71c1c;
+
+    --side-nav-fixed-width: 300px;
+    --top-height: 220px;
 }
 
 @media (prefers-color-scheme: dark) {
@@ -54,12 +57,6 @@ html.dark-mode {
     --param-color: #ef9a9a;
 }
 
-@media screen and (min-width: 767px) {
-    #projectname, #projectbrief, #projectnumber {
-        color: var(--side-nav-foreground);
-    }
-}
-
 a:link, a:visited, a:hover, a:focus, a:active {
     color: var(--link-color) !important;
 }
@@ -71,3 +68,40 @@ a:link, a:visited, a:hover, a:focus, a:active {
 dl.section dd, dl.bug dd, dl.deprecated dd {
     margin-inline-start: revert;
 }
+
+/* adjust top and title to ~match Sphinx docs */
+#top {
+    background: var(--side-nav-background);
+}
+
+#titlearea {
+    padding-bottom: 0;
+}
+
+#titlearea table {
+    width: 100%;
+}
+
+#projectlogo img {
+    width: 200px;
+    height: 95px;
+    max-height: none !important;
+    padding-top: 12px;
+}
+
+#projectalign {
+    display: none;
+}
+
+@media screen and (min-width: 767px) {
+    #doc-content {
+        padding-top: calc(var(--top-height) - 180px);
+    }
+}
+
+/* style for re-injected version */
+#projectversion {
+    color: var(--side-nav-foreground);
+    padding-top: 25px;
+    text-align: center;
+}
diff --git a/doc/_doxygen/doxygen-awesome-zephyr.js b/doc/_doxygen/doxygen-awesome-zephyr.js
new file mode 100644
index 00000000000..a4e77f45690
--- /dev/null
+++ b/doc/_doxygen/doxygen-awesome-zephyr.js
@@ -0,0 +1,12 @@
+/*
+ * Copyright (c) 2021 Nordic Semiconductor ASA
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+window.addEventListener('DOMContentLoaded', (event) => {
+  /* re-inject project version at a custom location */
+  let version = document.getElementById('projectnumber').innerText
+  let titleTable = document.querySelector('#titlearea table');
+  let cell = titleTable.insertRow(1).insertCell(0);
+  cell.innerHTML = '<div id="projectversion">' + version + '</div>';
+});
diff --git a/doc/_doxygen/header.html b/doc/_doxygen/header.html
index 73d1a6186bd..4422349d766 100644
--- a/doc/_doxygen/header.html
+++ b/doc/_doxygen/header.html
@@ -12,6 +12,7 @@
 <script type="text/javascript" src="$relpath^jquery.js"></script>
 <script type="text/javascript" src="$relpath^dynsections.js"></script>
 <script type="text/javascript" src="$relpath^doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript" src="$relpath^doxygen-awesome-zephyr.js"></script>
 $treeview
 $search
 $mathjax
diff --git a/doc/_doxygen/logo.png b/doc/_doxygen/logo.png
deleted file mode 100644
index 5acdaa79ff4..00000000000
Binary files a/doc/_doxygen/logo.png and /dev/null differ
diff --git a/doc/_doxygen/logo.svg b/doc/_doxygen/logo.svg
new file mode 100644
index 00000000000..1f7c8addc27
--- /dev/null
+++ b/doc/_doxygen/logo.svg
@@ -0,0 +1,218 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   id="Layer_1"
+   data-name="Layer 1"
+   viewBox="0 0 1100 549.99995"
+   version="1.1"
+   sodipodi:docname="logo.svg"
+   width="1100"
+   height="550"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata59">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title>Untitled-1</dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1214"
+     inkscape:window-height="795"
+     id="namedview57"
+     showgrid="false"
+     inkscape:zoom="0.30950752"
+     inkscape:cx="539.56686"
+     inkscape:cy="251.03579"
+     inkscape:window-x="0"
+     inkscape:window-y="27"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="Layer_1" />
+  <defs
+     id="defs20">
+    <style
+       id="style2">.cls-1{fill:#7929d2;}.cls-2{fill:#9454db;}.cls-3{fill:#af7fe4;}.cls-4{fill:url(#linear-gradient);}.cls-5{fill:url(#linear-gradient-2);}.cls-6{fill:url(#linear-gradient-3);}.cls-7{fill:url(#linear-gradient-4);}.cls-8{fill:#2d3136;}</style>
+    <linearGradient
+       id="linear-gradient"
+       x1="410.04001"
+       y1="186.75999"
+       x2="650.37"
+       y2="186.75999"
+       gradientUnits="userSpaceOnUse">
+      <stop
+         offset="0"
+         stop-color="#7929d2"
+         id="stop4" />
+      <stop
+         offset="1"
+         stop-color="#0070c5"
+         id="stop6" />
+    </linearGradient>
+    <linearGradient
+       id="linear-gradient-2"
+       x1="426.39999"
+       y1="-24.950001"
+       x2="424.39001"
+       y2="212.61"
+       gradientUnits="userSpaceOnUse">
+      <stop
+         offset="0"
+         stop-color="#00aeff"
+         id="stop9" />
+      <stop
+         offset="1"
+         stop-color="#9454db"
+         id="stop11" />
+    </linearGradient>
+    <linearGradient
+       id="linear-gradient-3"
+       x1="558.67999"
+       y1="73.550003"
+       x2="507.37"
+       y2="-15.32"
+       gradientUnits="userSpaceOnUse">
+      <stop
+         offset="0"
+         stop-color="#66a9dc"
+         id="stop14" />
+      <stop
+         offset="1"
+         stop-color="#b1e4fa"
+         id="stop16" />
+    </linearGradient>
+    <linearGradient
+       id="linear-gradient-4"
+       x1="570.09003"
+       y1="3.9200001"
+       x2="599.23999"
+       y2="205.55"
+       xlink:href="#linear-gradient-2" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linear-gradient-2"
+       id="linearGradient866"
+       gradientUnits="userSpaceOnUse"
+       x1="426.39999"
+       y1="-24.950001"
+       x2="424.39001"
+       y2="212.61" />
+  </defs>
+  <title
+     id="title22">Untitled-1</title>
+  <polygon
+     class="cls-1"
+     points="320.11,282.9 240.72,316.42 308.22,350.51 "
+     id="polygon24"
+     style="fill:#7929d2"
+     transform="translate(16.89,9.4249719)" />
+  <polygon
+     class="cls-2"
+     points="148.7,327.32 64.01,295.62 83.64,362.2 "
+     id="polygon26"
+     style="fill:#9454db"
+     transform="translate(16.89,9.4249719)" />
+  <polygon
+     class="cls-3"
+     points="188.85,267.73 240.72,316.42 148.7,327.32 "
+     id="polygon28"
+     style="fill:#af7fe4"
+     transform="translate(16.89,9.4249719)" />
+  <polygon
+     class="cls-3"
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+     style="fill:#af7fe4"
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+  <polygon
+     class="cls-4"
+     points="320.11,282.9 529.1,90.63 623.05,215.12 "
+     id="polygon32"
+     style="fill:url(#linear-gradient)"
+     transform="translate(16.89,9.4249719)" />
+  <polygon
+     class="cls-5"
+     points="320.11,282.9 409.38,0 529.1,90.63 "
+     id="polygon34"
+     style="fill:url(#linearGradient866)"
+     transform="translate(16.89,9.4249719)" />
+  <polygon
+     class="cls-6"
+     points="409.38,0 623.05,0 529.1,90.63 "
+     id="polygon36"
+     style="fill:url(#linear-gradient-3)"
+     transform="translate(16.89,9.4249719)" />
+  <polygon
+     class="cls-7"
+     points="623.05,215.12 623.05,0 529.1,90.63 "
+     id="polygon38"
+     style="fill:url(#linear-gradient-4)"
+     transform="translate(16.89,9.4249719)" />
+  <path
+     class="cls-8"
+     d="m 1049.41,376.05497 v 19.68 h -4.91 v -19.68 h -7.45 v -4.51 h 19.82 v 4.51 z"
+     id="path40"
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+     inkscape:connector-curvature="0" />
+  <path
+     class="cls-8"
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+     id="path42"
+     style="fill:#ffffff"
+     inkscape:connector-curvature="0" />
+  <path
+     class="cls-8"
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+     style="fill:#ffffff"
+     inkscape:connector-curvature="0" />
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+     class="cls-8"
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+     id="path46"
+     style="fill:#ffffff"
+     inkscape:connector-curvature="0" />
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+     class="cls-8"
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+     id="path48"
+     style="fill:#ffffff"
+     inkscape:connector-curvature="0" />
+  <path
+     class="cls-8"
+     d="m 814.88,503.05499 v -54.89 q 0,-15.76002 -2.94,-20.90002 -2.94,-5.14 -10.44,-5.12 -10.92,0 -26.3,14.43 v 66.48002 H 750.68 V 361.64497 h 24.51 v 54.7 a 56.39,56.39 0 0 1 16.62,-11.77 41.81,41.81 0 0 1 17.28,-4 q 16.71,0 23.51,9.4 6.8,9.4 6.79,26.59 v 66.48002 z"
+     id="path50"
+     style="fill:#ffffff"
+     inkscape:connector-curvature="0" />
+  <path
+     class="cls-8"
+     d="m 850.96,516.49499 a 44.33,44.33 0 0 0 14.34,2.76 15.07,15.07 0 0 0 9.68,-3.33 q 4.18,-3.32 8.65,-13.77 l 2.56,-5.89 -36,-92.78002 h 25.45 l 23.55,63.63002 24.12,-63.63002 h 24.89 l -42.83,106.41002 q -5.22,12.83 -10.16,19 a 29,29 0 0 1 -11.54,8.93 q -6.6,2.76 -16.57,2.75 a 81.53,81.53 0 0 1 -21.37,-2.84 z"
+     id="path52"
+     style="fill:#ffffff"
+     inkscape:connector-curvature="0" />
+  <path
+     class="cls-8"
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+     id="path54"
+     style="fill:#ffffff"
+     inkscape:connector-curvature="0" />
+</svg>
diff --git a/doc/zephyr.doxyfile.in b/doc/zephyr.doxyfile.in
index 64f071b7345..d8015bc1565 100644
--- a/doc/zephyr.doxyfile.in
+++ b/doc/zephyr.doxyfile.in
@@ -51,7 +51,7 @@ PROJECT_BRIEF          = "A Scalable Open Source RTOS"
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.
 
-PROJECT_LOGO           = @ZEPHYR_BASE@/doc/_doxygen/logo.png
+PROJECT_LOGO           = @ZEPHYR_BASE@/doc/_doxygen/logo.svg
 
 # 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
@@ -1278,7 +1278,8 @@ HTML_EXTRA_STYLESHEET  = @ZEPHYR_BASE@/doc/_doxygen/doxygen-awesome.css \
 # files will be copied as-is; there are no commands or markers available.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_EXTRA_FILES       = @ZEPHYR_BASE@/doc/_doxygen/doxygen-awesome-darkmode-toggle.js
+HTML_EXTRA_FILES       = @ZEPHYR_BASE@/doc/_doxygen/doxygen-awesome-darkmode-toggle.js \
+                         @ZEPHYR_BASE@/doc/_doxygen/doxygen-awesome-zephyr.js
 
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
 # will adjust the colors in the style sheet and background images according to
@@ -1600,7 +1601,7 @@ ENUM_VALUES_PER_LINE   = 4
 # Minimum value: 0, maximum value: 1500, default value: 250.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-TREEVIEW_WIDTH         = 250
+TREEVIEW_WIDTH         = 300
 
 # If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
 # external symbols imported via tag files in a separate window.