diff --git a/.github/scripts/python_wheels/cibw_before_all.sh b/.github/scripts/python_wheels/cibw_before_all.sh
index 2398877a8..1906ede89 100644
--- a/.github/scripts/python_wheels/cibw_before_all.sh
+++ b/.github/scripts/python_wheels/cibw_before_all.sh
@@ -14,7 +14,7 @@ export PYTHON="python${PYTHON_VERSION}"
 
 if [ "$(uname)" == "Linux" ]; then
     # manylinux2014 is based on CentOS 7, so use yum to install dependencies
-    yum install -y wget
+    yum install -y wget doxygen
 
     # Install Boost from source
     wget https://archives.boost.io/release/1.87.0/source/boost_1_87_0.tar.gz --quiet
@@ -24,7 +24,7 @@ if [ "$(uname)" == "Linux" ]; then
     ./b2 install --prefix=/opt/boost --with=all 
     cd ..
 elif [ "$(uname)" == "Darwin" ]; then
-    brew install wget cmake boost
+    brew install wget cmake boost doxygen
 fi
 
 $(which $PYTHON) -m pip install -r $PROJECT_DIR/python/dev_requirements.txt
@@ -48,11 +48,14 @@ cmake $PROJECT_DIR \
     -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
     -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
     -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
-    -DCMAKE_INSTALL_PREFIX=$PROJECT_DIR/gtsam_install
+    -DCMAKE_INSTALL_PREFIX=$PROJECT_DIR/gtsam_install \
+    -DGTSAM_GENERATE_DOC_XML=1
 
-cd $PROJECT_DIR/build/python
+# Generate Doxygen XML documentation
+doxygen build/doc/Doxyfile
 
 # Install the Python wrapper module and generate Python stubs
+cd $PROJECT_DIR/build/python
 if [ "$(uname)" == "Linux" ]; then
     make -j $(nproc) install
     make -j $(nproc) python-stubs