diff --git a/xtask/src/command.rs b/xtask/src/command.rs
index b1f885c141..6fce1c941b 100644
--- a/xtask/src/command.rs
+++ b/xtask/src/command.rs
@@ -66,6 +66,10 @@ pub enum CargoCommand<'a> {
         package: Vec<String>,
         check_only: bool,
     },
+    Doc {
+        cargoarg: &'a Option<&'a str>,
+        features: Option<&'a str>,
+    },
     ExampleSize {
         cargoarg: &'a Option<&'a str>,
         example: &'a str,
@@ -85,9 +89,9 @@ impl<'a> CargoCommand<'a> {
             CargoCommand::ExampleSize { .. } => "size",
             CargoCommand::Clippy { .. } => "clippy",
             CargoCommand::Format { .. } => "fmt",
+            CargoCommand::Doc { .. } => "doc",
             // TODO
             // CargoCommand::Test { .. } => "test",
-            // CargoCommand::Doc { .. } => "doc",
         }
     }
 
@@ -208,6 +212,19 @@ impl<'a> CargoCommand<'a> {
                 }
                 args
             }
+            CargoCommand::Doc { cargoarg, features } => {
+                let mut args = vec!["+nightly"];
+                if let Some(cargoarg) = cargoarg {
+                    args.extend_from_slice(&[cargoarg]);
+                }
+
+                args.extend_from_slice(&[self.name()]);
+
+                if let Some(feature) = features {
+                    args.extend_from_slice(&["--features", feature]);
+                }
+                args
+            }
             CargoCommand::Format {
                 cargoarg,
                 package,
diff --git a/xtask/src/main.rs b/xtask/src/main.rs
index b042b64046..62cfeafcb7 100644
--- a/xtask/src/main.rs
+++ b/xtask/src/main.rs
@@ -144,6 +144,9 @@ enum Commands {
 
     /// Run clippy
     Clippy(Package),
+
+    /// Build docs
+    Doc,
 }
 
 #[derive(Args, Debug)]
@@ -366,6 +369,10 @@ fn main() -> anyhow::Result<()> {
             info!("Running clippy on backend: {backend:?}");
             cargo_clippy(&cargoarg, &args, backend)?;
         }
+        Commands::Doc => {
+            info!("Running cargo doc on backend: {backend:?}");
+            cargo_doc(&cargoarg, backend)?;
+        }
         Commands::FormatCheck(args) => {
             info!("Running cargo fmt: {args:?}");
             let check_only = true;
@@ -501,6 +508,14 @@ fn cargo_format(
     Ok(())
 }
 
+fn cargo_doc(cargoarg: &Option<&str>, backend: Backends) -> anyhow::Result<()> {
+    let s = format!("{}", backend.to_rtic_feature());
+    let features: Option<&str> = Some(&s);
+
+    command_parser(&CargoCommand::Doc { cargoarg, features }, false)?;
+    Ok(())
+}
+
 fn run_test(
     cargoarg: &Option<&str>,
     backend: Backends,
@@ -701,6 +716,7 @@ fn command_parser(command: &CargoCommand, overwrite: bool) -> anyhow::Result<()>
         | CargoCommand::Build { .. }
         | CargoCommand::Check { .. }
         | CargoCommand::Clippy { .. }
+        | CargoCommand::Doc { .. }
         | CargoCommand::Format { .. }
         | CargoCommand::ExampleSize { .. } => {
             let cargo_result = run_command(command)?;