diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 55dad374..cdcb1e99 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -21,6 +21,8 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
       - name: Set up Python
         uses: actions/setup-python@v5
@@ -32,8 +34,8 @@ jobs:
           python -m pip install --upgrade pip
           pip install -r docs/requirements.txt
 
-      - name: Build Sphinx HTML
-        run: sphinx-build -b html docs docs/_build/html
+      - name: Build versioned docs site
+        run: python ci_scripts/build_versioned_docs.py
 
       - name: Setup GitHub Pages
         uses: actions/configure-pages@v3
@@ -41,7 +43,7 @@ jobs:
       - name: Upload artifact
         uses: actions/upload-pages-artifact@v3
         with:
-          path: docs/_build/html
+          path: docs/_build/site
 
   deploy:
     needs: build
diff --git a/Makefile b/Makefile
index 7fd799e2..e3830ac8 100644
--- a/Makefile
+++ b/Makefile
@@ -35,7 +35,7 @@ stubgen:
 	sed -i 's/    q_home: numpy\.ndarray\[tuple\[M\], numpy\.dtype\[numpy\.float64\]\] | None/    q_home: numpy.ndarray | None/' python/rcs/_core/common.pyi
 	python -c "from pathlib import Path; p=Path('python/rcs/_core/common.pyi'); t=p.read_text(); t=t.replace('numpy.ndarray[tuple[typing.Literal[2], N], numpy.dtype[numpy.float64]]', 'numpy.ndarray[tuple[typing.Literal[2], typing.Any], numpy.dtype[numpy.float64]]'); p.write_text(t)"
 	python -c "from pathlib import Path; p=Path('python/rcs/_core/sim.pyi'); t=p.read_text(); t=t.replace('numpy.ndarray[tuple[typing.Literal[2], N], numpy.dtype[numpy.float64]]', 'numpy.ndarray[tuple[typing.Literal[2], typing.Any], numpy.dtype[numpy.float64]]'); t=t.replace(', max_buffer_frames: int = 100', ''); p.write_text(t)"
-	python scripts/generate_common_typing.py
+	python ci_scripts/generate_common_typing.py
 	ruff check --fix python/rcs/_core python/rcs/common_typing.py
 	isort python/rcs/_core python/rcs/common_typing.py
 	black python/rcs/_core python/rcs/common_typing.py
diff --git a/ci_scripts/build_versioned_docs.py b/ci_scripts/build_versioned_docs.py
new file mode 100644
index 00000000..00ca6ad8
--- /dev/null
+++ b/ci_scripts/build_versioned_docs.py
@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+from __future__ import annotations
+
+import json
+import os
+import shutil
+import subprocess
+import tempfile
+import tomllib
+from pathlib import Path
+
+REPO_ROOT = Path(__file__).resolve().parents[1]
+DOCS_DIR = REPO_ROOT / "docs"
+OUTPUT_DIR = DOCS_DIR / "_build" / "site"
+BASE_URL = os.environ.get("RCS_DOCS_BASE_URL", "https://robotcontrolstack.org").rstrip("/")
+TAG_FILTER = [tag.strip() for tag in os.environ.get("RCS_DOCS_TAGS", "").split(",") if tag.strip()]
+
+
+def run(*args: str, cwd: Path = REPO_ROOT, env: dict[str, str] | None = None) -> str:
+    result = subprocess.run(args, cwd=cwd, env=env, check=True, text=True, capture_output=True)
+    return result.stdout.strip()
+
+
+def list_release_tags() -> list[str]:
+    if TAG_FILTER:
+        return TAG_FILTER
+    tags = run("git", "tag", "--list", "v*", "--sort=-version:refname")
+    return [tag for tag in tags.splitlines() if tag]
+
+
+def has_docs(ref: str) -> bool:
+    try:
+        run("git", "cat-file", "-e", f"{ref}:docs/conf.py")
+        return True
+    except subprocess.CalledProcessError:
+        return False
+
+
+def read_release(repo_root: Path) -> str:
+    with (repo_root / "pyproject.toml").open("rb") as f:
+        return tomllib.load(f)["project"]["version"]
+
+
+def build_docs(repo_root: Path, output_dir: Path, version_match: str) -> None:
+    env = os.environ.copy()
+    env["RCS_DOCS_VERSION"] = version_match
+    env["RCS_DOCS_RELEASE"] = read_release(repo_root)
+    subprocess.run(
+        ["sphinx-build", "-b", "html", "docs", str(output_dir)],
+        cwd=repo_root,
+        env=env,
+        check=True,
+        text=True,
+    )
+
+
+def overwrite_switcher_json(site_dir: Path, entries: list[dict[str, str]]) -> None:
+    payload = json.dumps(entries, indent=4) + "\n"
+    for root in [site_dir, site_dir / "latest", *[p for p in site_dir.iterdir() if p.is_dir() and p.name not in {"latest", "_sources", "_static"}]]:
+        static_dir = root / "_static"
+        if static_dir.exists():
+            (static_dir / "version_switcher.json").write_text(payload)
+
+
+def main() -> None:
+    if OUTPUT_DIR.exists():
+        shutil.rmtree(OUTPUT_DIR)
+    OUTPUT_DIR.mkdir(parents=True)
+
+    entries: list[dict[str, str]] = [
+        {
+            "name": "latest",
+            "version": "latest",
+            "url": f"{BASE_URL}/",
+        }
+    ]
+
+    with tempfile.TemporaryDirectory(prefix="rcs-docs-versioned-") as temp_dir_str:
+        temp_dir = Path(temp_dir_str)
+
+        latest_dir = OUTPUT_DIR / "latest"
+        build_docs(REPO_ROOT, latest_dir, "latest")
+
+        for tag in list_release_tags():
+            if not has_docs(tag):
+                continue
+
+            worktree_dir = temp_dir / tag
+            subprocess.run(["git", "worktree", "add", "--detach", str(worktree_dir), tag], cwd=REPO_ROOT, check=True)
+            try:
+                release = read_release(worktree_dir)
+                release_dir = OUTPUT_DIR / release
+                build_docs(worktree_dir, release_dir, release)
+                entries.append(
+                    {
+                        "name": release,
+                        "version": release,
+                        "url": f"{BASE_URL}/{release}/",
+                    }
+                )
+            finally:
+                subprocess.run(["git", "worktree", "remove", "--force", str(worktree_dir)], cwd=REPO_ROOT, check=True)
+
+    shutil.copytree(latest_dir, OUTPUT_DIR, dirs_exist_ok=True)
+    overwrite_switcher_json(OUTPUT_DIR, entries)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/scripts/generate_common_typing.py b/ci_scripts/generate_common_typing.py
similarity index 100%
rename from scripts/generate_common_typing.py
rename to ci_scripts/generate_common_typing.py
diff --git a/docs/_static/version_switcher.json b/docs/_static/version_switcher.json
index b51d0254..053bb50b 100644
--- a/docs/_static/version_switcher.json
+++ b/docs/_static/version_switcher.json
@@ -3,5 +3,25 @@
         "name": "latest",
         "version": "latest",
         "url": "https://robotcontrolstack.org/"
+    },
+    {
+        "name": "0.6.3",
+        "version": "0.6.3",
+        "url": "https://robotcontrolstack.org/0.6.3/"
+    },
+    {
+        "name": "0.6.2",
+        "version": "0.6.2",
+        "url": "https://robotcontrolstack.org/0.6.2/"
+    },
+    {
+        "name": "0.6.1",
+        "version": "0.6.1",
+        "url": "https://robotcontrolstack.org/0.6.1/"
+    },
+    {
+        "name": "0.6.0",
+        "version": "0.6.0",
+        "url": "https://robotcontrolstack.org/0.6.0/"
     }
-]
\ No newline at end of file
+]
diff --git a/docs/conf.py b/docs/conf.py
index 2049f264..62ca3302 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -1,14 +1,23 @@
 import os
 import sys
+import tomllib
+from pathlib import Path
 
 # inject path to rcs package to enable autodoc/autoapi to find packages
 sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "../python")))
 
+ROOT_DIR = Path(__file__).resolve().parents[1]
+
 project = "Robot Control Stack"
 copyright = "2025, RCS Contributors"
 author = "Tobias Jülg"
-release = "0.5.2"
-version = "0.5.2"
+
+with (ROOT_DIR / "pyproject.toml").open("rb") as f:
+    _pyproject = tomllib.load(f)
+
+release = os.environ.get("RCS_DOCS_RELEASE", _pyproject["project"]["version"])
+version = release
+_docs_version_match = os.environ.get("RCS_DOCS_VERSION", "latest")
 
 extensions = [
     "sphinx.ext.autodoc",
@@ -50,7 +59,7 @@
     "show_version_warning_banner": False,
     "switcher": {
         "json_url": "/_static/version_switcher.json",
-        "version_match": "latest",
+        "version_match": _docs_version_match,
     },
 }