diff --git a/doc/_static/favicons/favicon-16x16.png b/doc/_static/favicons/favicon-16x16.png
new file mode 100644
index 00000000..0b509cc2
Binary files /dev/null and b/doc/_static/favicons/favicon-16x16.png differ
diff --git a/doc/_static/favicons/favicon-180x180.png b/doc/_static/favicons/favicon-180x180.png
new file mode 100644
index 00000000..2c0a76de
Binary files /dev/null and b/doc/_static/favicons/favicon-180x180.png differ
diff --git a/doc/_static/favicons/favicon-192x192.png b/doc/_static/favicons/favicon-192x192.png
new file mode 100644
index 00000000..2dc52d0a
Binary files /dev/null and b/doc/_static/favicons/favicon-192x192.png differ
diff --git a/doc/favicons/favicon-32x32.png b/doc/_static/favicons/favicon-32x32.png
similarity index 100%
rename from doc/favicons/favicon-32x32.png
rename to doc/_static/favicons/favicon-32x32.png
diff --git a/doc/conf.py b/doc/conf.py
index 4b6a6812..658a0786 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -45,6 +45,7 @@ extensions = [
     'sphinxcontrib.katex',
     'sphinxcontrib.youtube',
     'sphinx_copybutton',
+    'sphinx_favicon',
     'sphinx_reredirects',
     'sphinx_toolbox.collapse',
     'mujoco_include',
@@ -149,7 +150,29 @@ html_css_files = [
     'theme_overrides.css',
 ]
 
-html_favicon = 'favicons/favicon-32x32.png'
+favicons = [
+    {
+        'sizes': '16x16',
+        'href': 'favicons/favicon-16x16.png',
+    },
+    {
+        'sizes': '32x32',
+        'href': 'favicons/favicon-32x32.png',
+    },
+    {
+        'rel': 'apple-touch-icon',
+        'sizes': '180x180',
+        'href': 'favicons/favicon-180x180.png',
+    },
+    {
+        'sizes': '180x180',
+        'href': 'favicons/favicon-180x180.png',
+    },
+    {
+        'sizes': '192x192',
+        'href': 'favicons/favicon-192x192.png',
+    },
+]
 
 # -- Options for katex ------------------------------------------------------
 
diff --git a/doc/requirements.txt b/doc/requirements.txt
index 60d39305..15442557 100644
--- a/doc/requirements.txt
+++ b/doc/requirements.txt
@@ -3,6 +3,7 @@ furo==2022.9.29
 sphinxcontrib-katex==0.8.6
 sphinxcontrib-youtube==1.1.0
 sphinx-copybutton==0.5.1
+sphinx-favicon==1.0.1
 sphinx-reredirects==0.0.1
 sphinx-toolbox==3.2.0
 nbsphinx==0.8.0