diff --git a/.github/workflows/sphinx-docs.yml b/.github/workflows/sphinx-docs.yml
index e0e14f31..8bc771ca 100644
--- a/.github/workflows/sphinx-docs.yml
+++ b/.github/workflows/sphinx-docs.yml
@@ -19,20 +19,35 @@ jobs:
         with:
           python-version: '3.10'
 
-      - name: Install dependencies
+      - name: Install dependencies for main docs
+        working-directory: ./docs
         run: |
           python -m pip install --upgrade pip
-          pip install -r docs/requirements.txt
+          pip install -r requirements.txt
+
+      - name: Install dependencies for Python client docs
+        working-directory: ./client/python/projectairsim/docs
+        run: |
+          pip install -r requirements.txt
 
-      - name: Build HTML with Sphinx
+      - name: Build Python client docs
+        working-directory: ./client/python/projectairsim/docs
+        run: make html
+
+      - name: Build main docs
         working-directory: ./docs
         run: make html
 
+      - name: Copy Python client docs into main docs
+        run: |
+          mkdir -p docs/build/html/client_api
+          cp -r client/python/projectairsim/docs/build/html/* docs/build/html/client_api/
+
       - name: Deploy to gh_page branch
         if: github.event_name == 'push'
         uses: peaceiris/actions-gh-pages@v3
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
-          publish_dir: ./docs/build/html
+          publish_dir: docs/build/html
           publish_branch: gh_page
           force_orphan: true
diff --git a/client/python/projectairsim/docs/Makefile b/client/python/projectairsim/docs/Makefile
index d4bb2cbb..ed880990 100644
--- a/client/python/projectairsim/docs/Makefile
+++ b/client/python/projectairsim/docs/Makefile
@@ -6,7 +6,7 @@
 SPHINXOPTS    ?=
 SPHINXBUILD   ?= sphinx-build
 SOURCEDIR     = .
-BUILDDIR      = _build
+BUILDDIR      = build
 
 # Put it first so that "make" without argument is like "make help".
 help:
diff --git a/client/python/projectairsim/docs/conf.py b/client/python/projectairsim/docs/conf.py
index f6d025df..15a6e649 100644
--- a/client/python/projectairsim/docs/conf.py
+++ b/client/python/projectairsim/docs/conf.py
@@ -3,6 +3,8 @@
 # Add projectairsim src/ folder to the Python path for sphinx to find it
 import os
 import sys
+
+import sphinx_rtd_theme
 sys.path.insert(0, os.path.abspath("../src"))
 
 project = 'Project AirSim'
@@ -19,5 +21,5 @@
 # -- Options for HTML output -------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
 
-html_theme = 'haiku'
-html_static_path = ['_static']
+html_theme = 'sphinx_rtd_theme'
+html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]