diff --git a/README.md b/README.md
index ab52b853..f3268c87 100644
--- a/README.md
+++ b/README.md
@@ -138,11 +138,11 @@ These packages give users of various languages access to MuJoCo functionality:
 
 #### First-party bindings
 
-- [Python bindings](https://mujoco.readthedocs.io/en/latest/python.html)
+- [Python bindings](https://mujoco.readthedocs.io/en/stable/python.html)
   - [dm_control](https://github.com/deepmind/dm_control), DeepMind's related
   environment stack, includes [PyMJCF](https://github.com/deepmind/dm_control/blob/main/dm_control/mjcf/README.md),
   a module for procedural manipulation of MuJoCo models.
-- [C# bindings and Unity plug-in](https://mujoco.readthedocs.io/en/latest/unity.html)
+- [C# bindings and Unity plug-in](https://mujoco.readthedocs.io/en/stable/unity.html)
 
 #### Third-party bindings
 
@@ -193,8 +193,8 @@ copy of the License at https://www.apache.org/licenses/LICENSE-2.0.
 
 This is not an officially supported Google product.
 
-[build from source]: https://mujoco.readthedocs.io/en/latest/programming.html#building-mujoco-from-source
-[Getting Started]: https://mujoco.readthedocs.io/en/latest/programming.html#getting-started
+[build from source]: https://mujoco.readthedocs.io/en/latest/programming#building-mujoco-from-source
+[Getting Started]: https://mujoco.readthedocs.io/en/latest/programming#getting-started
 [acquisition]: https://www.deepmind.com/blog/opening-up-a-physics-simulator-for-robotics
 [open sourcing]: https://www.deepmind.com/blog/open-sourcing-mujoco
 [Unity]: https://unity.com/
@@ -202,5 +202,5 @@ This is not an officially supported Google product.
 [GitHub Issues]: https://github.com/deepmind/mujoco/issues
 [documentation source files]: https://github.com/deepmind/mujoco/tree/main/doc
 [mujoco.readthedocs.io]: https://mujoco.readthedocs.io
-[Python Bindings]: https://mujoco.readthedocs.io/en/latest/python.html#python-bindings
+[Python Bindings]: https://mujoco.readthedocs.io/en/stable/python.html#python-bindings
 [PyPI]: https://pypi.org/project/mujoco/
diff --git a/STYLEGUIDE.md b/STYLEGUIDE.md
index 3d012d6e..b9a679fb 100644
--- a/STYLEGUIDE.md
+++ b/STYLEGUIDE.md
@@ -32,7 +32,7 @@ the following principle is followed:
 If there is a contradiction between this guide and existing code, the guide
 takes precedence. Additional principles include:
 
-- Follow the [naming conventions](https://mujoco.readthedocs.io/en/latest/programming.html#naming-convention).
+- Follow the [naming conventions](https://mujoco.readthedocs.io/en/latest/programming#naming-convention).
 - Be sparing with horizontal space: Try to keep lines short, avoid line-breaks
 where possble.
 - Be generous with vertical space: Empty lines between code blocks are good.
diff --git a/python/README.md b/python/README.md
index 4cc33b64..aab14f5a 100644
--- a/python/README.md
+++ b/python/README.md
@@ -47,7 +47,7 @@ If you need to build the Python bindings from source, please consult
 ## Usage
 
 Once installed, the package can be imported via `import mujoco`. Please consult
-our [documentation](https://mujoco.readthedocs.io/en/latest/python.html) for
+our [documentation](https://mujoco.readthedocs.io/en/stable/python.html) for
 further detail on the package's API.
 
 We recommend going through the tutorial notebook which covers the basics of
diff --git a/python/mujoco/render_test.py b/python/mujoco/render_test.py
index a5ae4cfc..af5705ae 100644
--- a/python/mujoco/render_test.py
+++ b/python/mujoco/render_test.py
@@ -36,7 +36,7 @@ class MuJoCoRenderTest(absltest.TestCase):
     """Test that the bindings can successfully render a simple image.
 
     This test sets up a basic MuJoCo rendering context similar to the example in
-    https://mujoco.readthedocs.io/en/latest/programming.html#visualization
+    https://mujoco.readthedocs.io/en/latest/programming#visualization
     It calls `mjr_rectangle` rather than `mjr_render` so that we can assert an
     exact rendered image without needing golden data. The purpose of this test
     is to ensure that the bindings can correctly return pixels in Python, rather