diff --git a/.github/workflows/doc-build.yml b/.github/workflows/doc-build.yml
index d7c1edd6a65..c50625a1879 100644
--- a/.github/workflows/doc-build.yml
+++ b/.github/workflows/doc-build.yml
@@ -217,7 +217,7 @@ jobs:
     - name: install-pkgs
       run: |
         apt-get update
-        apt-get install -y python3-pip python3-venv ninja-build doxygen graphviz librsvg2-bin
+        apt-get install -y python3-pip python3-venv ninja-build doxygen graphviz librsvg2-bin imagemagick
 
     - name: cache-pip
       uses: actions/cache@v4
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index 5cfce578a4a..e72b7ac2298 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -174,7 +174,7 @@ add_doc_target(
     -d ${DOCS_DOCTREE_DIR}
     -w ${DOCS_BUILD_DIR}/latex.log
     -t ${DOC_TAG}
-    -t svgconvert
+    -t convertimages
     ${SPHINXOPTS}
     ${SPHINXOPTS_EXTRA}
     ${DOCS_SRC_DIR}
diff --git a/doc/conf.py b/doc/conf.py
index ff54dd2cc49..a86f09b0542 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -99,9 +99,13 @@ extensions = [
     "zephyr.api_overview",
 ]
 
-# Only use SVG converter when it is really needed, e.g. LaTeX.
-if tags.has("svgconvert"):  # pylint: disable=undefined-variable
+# Only use image conversion when it is really needed, e.g. LaTeX build.
+# Ensure "sphinxcontrib.rsvgconverter" is added before "sphinx.ext.imgconverter"
+# as it's better at converting SVG with extended features (like the ones from
+# draw.io) to PDF format).
+if tags.has("convertimages"):  # pylint: disable=undefined-variable
     extensions.append("sphinxcontrib.rsvgconverter")
+    extensions.append("sphinx.ext.imgconverter")
 
 templates_path = ["_templates"]
 
diff --git a/doc/contribute/documentation/generation.rst b/doc/contribute/documentation/generation.rst
index 3991b19c47d..f51eb59e44e 100644
--- a/doc/contribute/documentation/generation.rst
+++ b/doc/contribute/documentation/generation.rst
@@ -105,27 +105,27 @@ as described below:
       .. code-block:: console
 
          sudo apt-get install --no-install-recommends doxygen graphviz librsvg2-bin \
-         texlive-latex-base texlive-latex-extra latexmk texlive-fonts-recommended
+         texlive-latex-base texlive-latex-extra latexmk texlive-fonts-recommended imagemagick
 
       On Fedora Linux:
 
       .. code-block:: console
 
          sudo dnf install doxygen graphviz texlive-latex latexmk \
-         texlive-collection-fontsrecommended librsvg2-tools
+         texlive-collection-fontsrecommended librsvg2-tools ImageMagick
 
       On Clear Linux:
 
       .. code-block:: console
 
-         sudo swupd bundle-add texlive graphviz
+         sudo swupd bundle-add texlive graphviz ImageMagick
 
       On Arch Linux:
 
       .. code-block:: console
 
          sudo pacman -S graphviz doxygen librsvg texlive-core texlive-bin \
-         texlive-latexextra texlive-fontsextra
+         texlive-latexextra texlive-fontsextra imagemagick
 
    .. group-tab:: macOS
 
@@ -139,7 +139,7 @@ as described below:
 
       .. code-block:: console
 
-         brew install doxygen graphviz mactex librsvg
+         brew install doxygen graphviz mactex librsvg imagemagick
          tlmgr install latexmk
          tlmgr install collection-fontsrecommended
 
@@ -155,7 +155,7 @@ as described below:
 
       .. code-block:: console
 
-         choco install doxygen.install graphviz strawberryperl miktex rsvg-convert
+         choco install doxygen.install graphviz strawberryperl miktex rsvg-convert imagemagick
 
       .. note::
          On Windows, the Sphinx executable ``sphinx-build.exe`` is placed in