diff --git a/.github/workflows/preview-docs.yml b/.github/workflows/preview-docs.yml
new file mode 100644
index 0000000000..9bd325fc80
--- /dev/null
+++ b/.github/workflows/preview-docs.yml
@@ -0,0 +1,49 @@
+name: 📖 Deploy Documentation Previews
+
+on:
+  pull_request:
+    types:
+      - opened
+      - reopened
+      - synchronize
+      - closed
+
+env:
+  BUILD_TYPE: Release
+
+concurrency: preview-${{ github.ref }}
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: recursive
+
+    - name: Install dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install xorg-dev libglu1-mesa-dev doxygen
+
+    - name: Set up Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: '3.x'
+
+    - name: Install python dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install jinja2 pygments
+
+    - name: Configure CMake
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBUILD_DOCUMENTATION=ON
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} --target generate-docs
+
+    - name: Deploy preview
+      uses: rossjrw/pr-preview-action@v1
+      with:
+        source-dir: ${{github.workspace}}/build/docs/doxygen/html