diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml
new file mode 100644
index 0000000000..597bbd2de5
--- /dev/null
+++ b/.github/workflows/deploy.yml
@@ -0,0 +1,36 @@
+name: Deploy to GitHub Pages
+on:
+  push:
+    branches:
+      - rolling
+      - humble
+
+jobs:
+    deploy:
+        runs-on: ubuntu-22.04
+        steps:
+            - name: Checkout
+              uses: actions/checkout@v4
+
+            - name: Setup Python
+              uses: actions/setup-python@v5
+              with:
+                  python-version: '3.10'
+
+            - name: Setup Graphviz
+              uses: ts-graphviz/setup-graphviz@v2
+
+            - name: Install dependencies with pip
+              run: pip install --no-warn-script-location --user -r requirements.txt -c constraints.txt
+
+            - name: Build the docs
+              run: make multiversion
+
+            - name: Deploy to GitHub Pages
+              uses: peaceiris/actions-gh-pages@v4.0.0
+              with:
+                  github_token: ${{ secrets.GITHUB_TOKEN }}
+                  publish_dir: ./build/html
+                  cname: ros2docs.robook.org
+                  commit_message: ${{ github.event.head_commit.message }}
+                  enable_jekyll: true