diff --git a/util/build_docs.py b/util/build_docs.py
new file mode 100755
index 0000000..b1fe566
--- /dev/null
+++ b/util/build_docs.py
@@ -0,0 +1,165 @@
+#!/usr/bin/env python3
+# Copyright lowRISC contributors.
+# Licensed under the Apache License, Version 2.0, see LICENSE for details.
+# SPDX-License-Identifier: Apache-2.0
+#
+# pip3 install --user livereload
+# Usage:
+#   run './build_docs.py' to generate the documentation and keep it updated
+#   open 'http://localhost:5500/' to check live update (this opens the top
+#   level index page). you can also directly access a specific document by
+#   accessing 'http://localhost:5500/path/to/doc.html',
+#       e.g. http://localhost:5500/hw/ip/uart/doc/uart.html
+
+import argparse
+import logging
+import os
+import shutil
+from pathlib import Path
+
+import livereload
+
+import docgen.generate
+
+USAGE = """
+  build_docs [options]
+"""
+
+MARKDOWN_EXTENSIONS = [
+    '.md',
+    '.mkd',
+]
+STATIC_ASSET_EXTENSIONS = [
+    '.svg',
+    '.png',
+    '.jpg',
+    '.css',
+]
+HJSON_EXTENSIONS = ['.hjson']
+
+# Configurations
+# TODO(eunchan): Move to config.yaml
+SRCTREE_TOP = Path(__file__).parent.joinpath('..').resolve()
+config = {
+    # Toplevel source directory
+    "topdir": SRCTREE_TOP,
+
+    # A list of directories containing documentation within topdir. To ensure
+    # the top-level sitemap doesn't have broken links, this should be kept
+    # in-sync with the doctree tag in sitemap.md.
+    "incdirs": ['./doc', './hw', './sw', './util'],
+
+    # Output directory for documents
+    "outdir": SRCTREE_TOP.joinpath('opentitan-docs'),
+    "verbose": False,
+}
+
+
+def get_doc_files(extensions=MARKDOWN_EXTENSIONS + STATIC_ASSET_EXTENSIONS):
+    """Get the absolute path of files containing documentation
+    """
+    file_list = []
+    # doc files on toplevel
+    for ext in extensions:
+        file_list += config["topdir"].glob('*' + ext)
+    # doc files in include dirs
+    for incdir in config['incdirs']:
+        for ext in extensions:
+            file_list += config["topdir"].joinpath(incdir).rglob('*' + ext)
+    return file_list
+
+
+def ensure_dest_dir(dest_pathname):
+    os.makedirs(dest_pathname.parent, exist_ok=True)
+
+
+def path_src_to_dest(src_pathname, dest_filename_suffix=None):
+    """Get the destination pathname from a source pathname
+    """
+    src_relpath = Path(src_pathname).relative_to(config["topdir"])
+    dest_pathname = Path(config["outdir"]).joinpath(src_relpath)
+    if dest_filename_suffix:
+        dest_pathname = dest_pathname.with_suffix(dest_filename_suffix)
+    return dest_pathname
+
+
+def process_file_markdown(src_pathname):
+    """Process a markdown file and copy it to the destination
+    """
+    dest_pathname = path_src_to_dest(src_pathname, '.html')
+
+    logging.info("Processing Markdown file: %s -> %s" %
+                 (str(src_pathname), str(dest_pathname)))
+
+    ensure_dest_dir(dest_pathname)
+
+    with open(dest_pathname, 'w', encoding='UTF-8') as f:
+        outstr = docgen.generate.generate_doc(str(src_pathname),
+                                              verbose=config['verbose'],
+                                              inlinecss=True,
+                                              inlinewave=True,
+                                              asdiv=False)
+        f.write(outstr)
+
+    return dest_pathname
+
+
+def process_file_copytodest(src_pathname):
+    """Copy a file to the destination directory with no further processing
+    """
+    dest_pathname = path_src_to_dest(src_pathname)
+
+    logging.info("Copying %s -> %s" % (str(src_pathname), str(dest_pathname)))
+
+    ensure_dest_dir(dest_pathname)
+    shutil.copy(src_pathname, dest_pathname)
+
+
+def process_all_files():
+    """Process all files
+
+    The specific processing action depends on the file type.
+    """
+    src_files = get_doc_files()
+
+    for src_pathname in src_files:
+        if src_pathname.suffix in MARKDOWN_EXTENSIONS:
+            process_file_markdown(src_pathname)
+        elif src_pathname.suffix in STATIC_ASSET_EXTENSIONS:
+            process_file_copytodest(src_pathname)
+
+
+def main():
+    logging.basicConfig(level=logging.INFO,
+                        format="%(asctime)s - %(message)s",
+                        datefmt="%Y-%m-%d %H:%M")
+
+    parser = argparse.ArgumentParser(
+        prog="build_docs",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        usage=USAGE)
+    parser.add_argument(
+        '--preview',
+        action='store_true',
+        help="""starts a local server with live reload (updates triggered upon
+             changes in the documentation files). this feature is intended
+             to preview the documentation locally.""")
+
+    args = parser.parse_args()
+
+    # Initial processing of all files
+    process_all_files()
+
+    if args.preview:
+        # Setup livereload watcher
+        server = livereload.Server()
+        exts_to_watch = MARKDOWN_EXTENSIONS +       \
+                        STATIC_ASSET_EXTENSIONS +   \
+                        HJSON_EXTENSIONS
+        for src_pathname in get_doc_files(exts_to_watch):
+            server.watch(str(src_pathname), process_all_files)
+        server.serve(root=config['topdir'].joinpath(config['outdir']))
+
+
+if __name__ == "__main__":
+    main()