diff --git a/.github/workflows/deploy-docs.yaml b/.github/workflows/deploy-docs.yaml
new file mode 100644
index 0000000..6df361b
--- /dev/null
+++ b/.github/workflows/deploy-docs.yaml
@@ -0,0 +1,41 @@
+name: deploy-docs
+
+on:
+  push:
+    branches:
+      - main
+    paths:
+      - mkdocs.yaml
+      - "**/*.md"
+      - "**/*.svg"
+      - "**/*.png"
+      - "**/*.jpg"
+  pull_request_target:
+    types:
+      - opened
+      - synchronize
+      - labeled
+  workflow_dispatch:
+
+jobs:
+  prevent-no-label-execution:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+    with:
+      label: deploy-docs
+
+  deploy-docs:
+    needs: prevent-no-label-execution
+    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      - name: Deploy docs
+        uses: autowarefoundation/autoware-github-actions/deploy-docs@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          latest: ${{ github.event_name != 'pull_request_target' && github.ref_name == github.event.repository.default_branch }}
\ No newline at end of file