diff --git a/doc/_extensions/zephyr/doxyrunner.py b/doc/_extensions/zephyr/doxyrunner.py
index 8ab68cc754397..8bd10e63a97c9 100644
--- a/doc/_extensions/zephyr/doxyrunner.py
+++ b/doc/_extensions/zephyr/doxyrunner.py
@@ -9,7 +9,7 @@
 ============
 
 This Sphinx plugin can be used to run Doxygen build as part of the Sphinx build
-process. It is meant to be used with other plugins such as ``docleaf`` in order
+process. It is meant to be used with other plugins such as ``breathe`` in order
 to improve the user experience. The principal features offered by this plugin
 are:
 
diff --git a/doc/_static/css/custom.css b/doc/_static/css/custom.css
index a357621205aac..da9f379d41d6d 100644
--- a/doc/_static/css/custom.css
+++ b/doc/_static/css/custom.css
@@ -843,13 +843,13 @@ kbd, .kbd,
     background-color: var(--navbar-scrollbar-active-color);
 }
 
-/* Docleaf tweaks */
+/* Breathe tweaks */
 
 .rst-content .section > dl > dd {
     margin-left: 0;
 }
 
-.rst-content p.docleaf-sectiondef-title {
+.rst-content p.breathe-sectiondef-title {
     font-size: 115%;
     color: var(--link-color);
 }
diff --git a/doc/conf.py b/doc/conf.py
index 51b4dd593dfde..551bb599b0afa 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -67,7 +67,7 @@
 # -- General configuration ------------------------------------------------
 
 extensions = [
-    "docleaf.doxygen",
+    "breathe",
     "sphinx.ext.todo",
     "sphinx.ext.extlinks",
     "sphinx.ext.autodoc",
@@ -211,17 +211,16 @@
 doxyrunner_fmt_vars = {"ZEPHYR_BASE": str(ZEPHYR_BASE), "ZEPHYR_VERSION": version}
 doxyrunner_outdir_var = "DOXY_OUT"
 
-# -- Options for Docleaf plugin -------------------------------------------
+# -- Options for Breathe plugin -------------------------------------------
 
-docleaf_projects = {"Zephyr": {"xml": str(doxyrunner_outdir / "xml"), "root": "../"}}
-docleaf_default_project = "Zephyr"
-docleaf_domain_by_extension = {
+breathe_projects = {"Zephyr": str(doxyrunner_outdir / "xml")}
+breathe_default_project = "Zephyr"
+breathe_domain_by_extension = {
     "h": "c",
     "c": "c",
 }
-# Filters out any 'function' or 'variable' members that have 'all caps' names as
-# they are likely unprocessed macro calls
-docleaf_doxygen_skip = ["members:all_caps"]
+breathe_show_enumvalue_initializer = True
+breathe_default_members = ("members", )
 
 cpp_id_attributes = [
     "__syscall",
diff --git a/doc/connectivity/bluetooth/api/mesh/blob.rst b/doc/connectivity/bluetooth/api/mesh/blob.rst
index d36ba366ed449..069f1ac9c6351 100644
--- a/doc/connectivity/bluetooth/api/mesh/blob.rst
+++ b/doc/connectivity/bluetooth/api/mesh/blob.rst
@@ -127,3 +127,4 @@ This section contains types and defines common to the BLOB Transfer models.
 
 .. doxygengroup:: bt_mesh_blob
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/blob_cli.rst b/doc/connectivity/bluetooth/api/mesh/blob_cli.rst
index 74ee8d43d6f92..6d926be1b5cac 100644
--- a/doc/connectivity/bluetooth/api/mesh/blob_cli.rst
+++ b/doc/connectivity/bluetooth/api/mesh/blob_cli.rst
@@ -93,3 +93,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_blob_cli
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/blob_srv.rst b/doc/connectivity/bluetooth/api/mesh/blob_srv.rst
index b88cd364724f9..22c2540a3377f 100644
--- a/doc/connectivity/bluetooth/api/mesh/blob_srv.rst
+++ b/doc/connectivity/bluetooth/api/mesh/blob_srv.rst
@@ -67,3 +67,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_blob_srv
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/dfd_srv.rst b/doc/connectivity/bluetooth/api/mesh/dfd_srv.rst
index 7c9c8c77a5878..a1912e3acfb93 100644
--- a/doc/connectivity/bluetooth/api/mesh/dfd_srv.rst
+++ b/doc/connectivity/bluetooth/api/mesh/dfd_srv.rst
@@ -23,3 +23,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_dfd_srv
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/dfu.rst b/doc/connectivity/bluetooth/api/mesh/dfu.rst
index b4dc456178f77..685aaf3cbd1de 100644
--- a/doc/connectivity/bluetooth/api/mesh/dfu.rst
+++ b/doc/connectivity/bluetooth/api/mesh/dfu.rst
@@ -221,6 +221,8 @@ This section lists the types common to the Device Firmware Update mesh models.
 
 .. doxygengroup:: bt_mesh_dfu
    :project: Zephyr
+   :members:
 
 .. doxygengroup:: bt_mesh_dfu_metadata
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/dfu_cli.rst b/doc/connectivity/bluetooth/api/mesh/dfu_cli.rst
index 74a08ac0620e7..c4ea98770d93e 100644
--- a/doc/connectivity/bluetooth/api/mesh/dfu_cli.rst
+++ b/doc/connectivity/bluetooth/api/mesh/dfu_cli.rst
@@ -11,3 +11,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_dfu_cli
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/dfu_srv.rst b/doc/connectivity/bluetooth/api/mesh/dfu_srv.rst
index fa35e484f76f0..0b98b1ec067c2 100644
--- a/doc/connectivity/bluetooth/api/mesh/dfu_srv.rst
+++ b/doc/connectivity/bluetooth/api/mesh/dfu_srv.rst
@@ -68,3 +68,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_dfu_srv
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/lcd_cli.rst b/doc/connectivity/bluetooth/api/mesh/lcd_cli.rst
index 6871b51abed45..27df2e493b216 100644
--- a/doc/connectivity/bluetooth/api/mesh/lcd_cli.rst
+++ b/doc/connectivity/bluetooth/api/mesh/lcd_cli.rst
@@ -17,3 +17,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_large_comp_data_cli
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/lcd_srv.rst b/doc/connectivity/bluetooth/api/mesh/lcd_srv.rst
index cd10e3f84a4c3..df724974b86ae 100644
--- a/doc/connectivity/bluetooth/api/mesh/lcd_srv.rst
+++ b/doc/connectivity/bluetooth/api/mesh/lcd_srv.rst
@@ -27,3 +27,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_large_comp_data_srv
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/od_cli.rst b/doc/connectivity/bluetooth/api/mesh/od_cli.rst
index 8d49d716b6d43..ea2deae79b9fd 100644
--- a/doc/connectivity/bluetooth/api/mesh/od_cli.rst
+++ b/doc/connectivity/bluetooth/api/mesh/od_cli.rst
@@ -26,3 +26,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_od_priv_proxy_cli
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/od_srv.rst b/doc/connectivity/bluetooth/api/mesh/od_srv.rst
index e23d17c9d9518..241ce5f155cf2 100644
--- a/doc/connectivity/bluetooth/api/mesh/od_srv.rst
+++ b/doc/connectivity/bluetooth/api/mesh/od_srv.rst
@@ -25,3 +25,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_od_priv_proxy_srv
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/op_agg_cli.rst b/doc/connectivity/bluetooth/api/mesh/op_agg_cli.rst
index 80d5f52d13ece..23eb608391f95 100644
--- a/doc/connectivity/bluetooth/api/mesh/op_agg_cli.rst
+++ b/doc/connectivity/bluetooth/api/mesh/op_agg_cli.rst
@@ -27,3 +27,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_op_agg_cli
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/op_agg_srv.rst b/doc/connectivity/bluetooth/api/mesh/op_agg_srv.rst
index 25fbe8bb758a3..5d493cb45909c 100644
--- a/doc/connectivity/bluetooth/api/mesh/op_agg_srv.rst
+++ b/doc/connectivity/bluetooth/api/mesh/op_agg_srv.rst
@@ -29,3 +29,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_op_agg_srv
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/priv_beacon_cli.rst b/doc/connectivity/bluetooth/api/mesh/priv_beacon_cli.rst
index ce81cfcd76faf..6a6f44b1387e9 100644
--- a/doc/connectivity/bluetooth/api/mesh/priv_beacon_cli.rst
+++ b/doc/connectivity/bluetooth/api/mesh/priv_beacon_cli.rst
@@ -33,3 +33,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_priv_beacon_cli
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/priv_beacon_srv.rst b/doc/connectivity/bluetooth/api/mesh/priv_beacon_srv.rst
index 7728bede2a731..d69fe616e3802 100644
--- a/doc/connectivity/bluetooth/api/mesh/priv_beacon_srv.rst
+++ b/doc/connectivity/bluetooth/api/mesh/priv_beacon_srv.rst
@@ -36,3 +36,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_priv_beacon_srv
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/rpr_cli.rst b/doc/connectivity/bluetooth/api/mesh/rpr_cli.rst
index aa4909a37b7c2..38cb8849f9e5d 100644
--- a/doc/connectivity/bluetooth/api/mesh/rpr_cli.rst
+++ b/doc/connectivity/bluetooth/api/mesh/rpr_cli.rst
@@ -129,3 +129,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_rpr_cli
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/rpr_srv.rst b/doc/connectivity/bluetooth/api/mesh/rpr_srv.rst
index 9d966179e980b..f958ef31bd938 100644
--- a/doc/connectivity/bluetooth/api/mesh/rpr_srv.rst
+++ b/doc/connectivity/bluetooth/api/mesh/rpr_srv.rst
@@ -27,3 +27,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_rpr_srv
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/srpl_cli.rst b/doc/connectivity/bluetooth/api/mesh/srpl_cli.rst
index 5764d223c07b9..e940158dd2ef3 100644
--- a/doc/connectivity/bluetooth/api/mesh/srpl_cli.rst
+++ b/doc/connectivity/bluetooth/api/mesh/srpl_cli.rst
@@ -28,3 +28,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_sol_pdu_rpl_cli
    :project: Zephyr
+   :members:
diff --git a/doc/connectivity/bluetooth/api/mesh/srpl_srv.rst b/doc/connectivity/bluetooth/api/mesh/srpl_srv.rst
index 8c897450bbb56..a8c5379e3052c 100644
--- a/doc/connectivity/bluetooth/api/mesh/srpl_srv.rst
+++ b/doc/connectivity/bluetooth/api/mesh/srpl_srv.rst
@@ -27,3 +27,4 @@ API reference
 
 .. doxygengroup:: bt_mesh_sol_pdu_rpl_srv
    :project: Zephyr
+   :members:
diff --git a/doc/contribute/documentation/generation.rst b/doc/contribute/documentation/generation.rst
index 756c1c2a70290..3701e86013856 100644
--- a/doc/contribute/documentation/generation.rst
+++ b/doc/contribute/documentation/generation.rst
@@ -52,7 +52,7 @@ The project's documentation contains the following items:
       header [shape="rectangle" label="c header\ncomments"]
       xml [shape="rectangle" label="XML"]
       html [shape="rectangle" label="HTML\nweb site"]
-      sphinx[shape="ellipse" label="sphinx +\ndocleaf,\ndocutils"]
+      sphinx[shape="ellipse" label="sphinx +\nbreathe,\ndocutils"]
       images -> sphinx
       rst -> sphinx
       conf -> sphinx
@@ -65,7 +65,7 @@ The project's documentation contains the following items:
 
 
 The reStructuredText files are processed by the Sphinx documentation system,
-and make use of the docleaf extension for including the doxygen-generated API
+and make use of the breathe extension for including the doxygen-generated API
 material.  Additional tools are required to generate the
 documentation locally, as described in the following sections.
 
@@ -226,7 +226,7 @@ build the documentation directly from there:
 Filtering expected warnings
 ***************************
 
-There are some known issues with Sphinx/Docleaf that generate Sphinx warnings
+There are some known issues with Sphinx/Breathe that generate Sphinx warnings
 even though the input is valid C code. While these issues are being considered
 for fixing we have created a Sphinx extension that allows to filter them out
 based on a set of regular expressions. The extension is named
@@ -234,8 +234,8 @@ based on a set of regular expressions. The extension is named
 ``doc/_extensions/zephyr/warnings_filter.py``. The warnings to be filtered out
 can be added to the ``doc/known-warnings.txt`` file.
 
-The most common warning reported by Sphinx/Docleaf is related to duplicate C
-declarations. This warning may be caused by different Sphinx/Docleaf issues:
+The most common warning reported by Sphinx/Breathe is related to duplicate C
+declarations. This warning may be caused by different Sphinx/Breathe issues:
 
 - Multiple declarations of the same object are not supported
 - Different objects (e.g. a struct and a function) can not share the same name
diff --git a/doc/requirements.txt b/doc/requirements.txt
index 2bd19422dca57..2d90048e16f90 100644
--- a/doc/requirements.txt
+++ b/doc/requirements.txt
@@ -1,6 +1,6 @@
 # DOC: used to generate docs
 
-docleaf==0.8.1
+breathe>=4.34
 sphinx~=6.2
 sphinx_rtd_theme~=1.2
 sphinx-tabs