diff --git a/.github/workflows/build-docs.yml b/.github/workflows/build-docs-dev.yml
similarity index 95%
rename from .github/workflows/build-docs.yml
rename to .github/workflows/build-docs-dev.yml
index 8dd6fc3a4..4cdd4dd5c 100644
--- a/.github/workflows/build-docs.yml
+++ b/.github/workflows/build-docs-dev.yml
@@ -46,3 +46,5 @@ jobs:
         uses: JamesIves/github-pages-deploy-action@v4
         with:
           folder: _build
+          target-folder: main
+          clean: false
diff --git a/.github/workflows/build-docs-manual-version.yml b/.github/workflows/build-docs-manual-version.yml
new file mode 100644
index 000000000..33bbff14f
--- /dev/null
+++ b/.github/workflows/build-docs-manual-version.yml
@@ -0,0 +1,71 @@
+name: Manual Docs Versioning
+on:
+  workflow_dispatch:
+    inputs:
+      version:
+          description: 'Documentation version to create'
+          required: true
+      commit:
+          description: 'Commit used to build the Documentation version'
+          required: false
+      latest:
+          description: 'Latest version'
+          type: boolean
+
+permissions:
+  contents: write
+jobs:
+  docs:
+    name: Generate Website for new version
+    runs-on: ubuntu-latest
+    env:
+      SPHINX_GITHUB_CHANGELOG_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - uses: actions/checkout@v3
+        if: inputs.commit == ''
+
+      - uses: actions/checkout@v3
+        if: inputs.commit != ''
+        with:
+          ref: ${{ inputs.commit }}
+
+      - uses: actions/setup-python@v4
+        with:
+            python-version: '3.9'
+
+      - name: Install ViZDoom dependencies
+        run: sudo apt install cmake git libboost-all-dev libsdl2-dev libopenal-dev
+
+      - name: Install ViZDoom
+        run: pip install .[gym]
+
+      - name: Install docs dependencies
+        run: pip install -r docs/requirements.txt
+
+      - name: Build docs
+        run: sphinx-build -b dirhtml -v docs _build
+
+      - name: Move 404
+        run: mv _build/404/index.html _build/404.html
+
+      - name: Update 404 links
+        run: python docs/_scripts/move_404.py _build/404.html
+
+      - name: Remove .doctrees
+        run: rm -r _build/.doctrees
+
+      - name: Upload to GitHub Pages
+        uses: JamesIves/github-pages-deploy-action@v4
+        with:
+          folder: _build
+          target-folder: ${{ inputs.version }}
+          clean: false
+
+      - name: Upload to GitHub Pages
+        uses: JamesIves/github-pages-deploy-action@v4
+        if: inputs.latest
+        with:
+          folder: _build
+          clean-exclude: |
+            *.*.*/
+            main
diff --git a/.github/workflows/build-docs-version.yml b/.github/workflows/build-docs-version.yml
new file mode 100644
index 000000000..ef0ee0037
--- /dev/null
+++ b/.github/workflows/build-docs-version.yml
@@ -0,0 +1,56 @@
+name: Docs Versioning
+on:
+  push:
+    tags:
+      - 'v?*.*.*'
+permissions:
+  contents: write
+jobs:
+  docs:
+    name: Generate Website for new version
+    runs-on: ubuntu-latest
+    env:
+      SPHINX_GITHUB_CHANGELOG_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: actions/setup-python@v4
+        with:
+            python-version: '3.9'
+
+      - name: Install ViZDoom dependencies
+        run: sudo apt install cmake git libboost-all-dev libsdl2-dev libopenal-dev
+
+      - name: Install ViZDoom
+        run: pip install .[gym]
+
+      - name: Install docs dependencies
+        run: pip install -r docs/requirements.txt
+
+      - name: Build docs
+        run: sphinx-build -b dirhtml -v docs _build
+
+      - name: Move 404
+        run: mv _build/404/index.html _build/404.html
+
+      - name: Update 404 links
+        run: python docs/_scripts/move_404.py _build/404.html
+
+      - name: Remove .doctrees
+        run: rm -r _build/.doctrees
+
+      - name: Upload to GitHub Pages
+        uses: JamesIves/github-pages-deploy-action@v4
+        with:
+          folder: _build
+          target-folder: ${{github.ref_name}}
+          clean: false
+
+      - name: Upload to GitHub Pages
+        uses: JamesIves/github-pages-deploy-action@v4
+        if: ${{ !contains(github.ref_name, 'a') }}
+        with:
+          folder: _build
+          clean-exclude: |
+            *.*.*/
+            main