diff --git a/.github/workflows/docs-deploy-preview.yaml b/.github/workflows/docs-deploy-preview.yaml
deleted file mode 100644
index 228884d03..000000000
--- a/.github/workflows/docs-deploy-preview.yaml
+++ /dev/null
@@ -1,92 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-# SPDX-License-Identifier: Apache-2.0
-#
-# Deploy PR docs preview to GitHub Pages after manual approval.
-#
-# Triggered by the "Build & deploy docs" workflow completing on a pull request.
-# Uses a "docs-preview" environment with required reviewers so that someone with
-# write access must approve before the deploy runs — this lets fork PRs get
-# previews without giving their GITHUB_TOKEN write access to the base repo.
-#
-# Setup: create a "docs-preview" environment in repo Settings → Environments,
-# then add required reviewers (anyone with write access to the repo).
-
-name: Deploy docs PR preview
-
-on:
-  workflow_run:
-    workflows: ["Build & deploy docs"]
-    types: [completed]
-
-concurrency:
-  group: >-
-    deploy-preview-${{ github.event.workflow_run.head_repository.id }}-${{ github.event.workflow_run.head_branch }}
-  cancel-in-progress: true
-
-jobs:
-  deploy-preview:
-    name: Deploy PR preview
-    runs-on: ubuntu-latest
-    if: >-
-      github.event.workflow_run.event == 'pull_request'
-      && github.event.workflow_run.conclusion == 'success'
-    environment: docs-preview
-    permissions:
-      actions: read     # download artifacts from the triggering run
-      contents: write   # push to gh-pages
-    steps:
-      - name: Download PR metadata
-        uses: actions/download-artifact@v7
-        with:
-          name: pr-metadata
-          run-id: ${{ github.event.workflow_run.id }}
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Read PR number
-        id: pr
-        run: echo "number=$(cat pr-number.txt)" >> "$GITHUB_OUTPUT"
-
-      - name: Download docs artifact
-        uses: actions/download-artifact@v7
-        with:
-          name: docs-html
-          path: ./docs/build
-          run-id: ${{ github.event.workflow_run.id }}
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Download web app artifact
-        uses: actions/download-artifact@v7
-        with:
-          name: webapp
-          path: ./webapp
-          run-id: ${{ github.event.workflow_run.id }}
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Place web app under subpath
-        run: |
-          mkdir -p ./docs/build/current/client
-          cp -r ./webapp/. ./docs/build/current/client/
-
-      - name: Deploy PR preview to gh-pages
-        uses: peaceiris/actions-gh-pages@v4
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          publish_dir: ./docs/build/current
-          destination_dir: preview/pr-${{ steps.pr.outputs.number }}
-          keep_files: true
-
-      - name: Add preview URL to workflow summary
-        run: |
-          base="https://${{ github.repository_owner }}.github.io/${{ github.event.repository.name }}/preview/pr-${{ steps.pr.outputs.number }}/"
-          client_url="${base}client/"
-          {
-            echo "## Docs preview"
-            echo
-            echo "Built docs for this PR are available at:"
-            echo
-            echo "**${base}**"
-            echo
-            echo "Teleop web app (subpath \`/client/\`): **${client_url}**"
-            echo
-            echo "(It may take a minute to appear after the workflow completes.)"
-          } >> "$GITHUB_STEP_SUMMARY"
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index e48a187ac..88caefe61 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -2,9 +2,8 @@
 # SPDX-License-Identifier: Apache-2.0
 #
 # Build docs and Teleop web app, then deploy to GitHub Pages.
-# - Push to main/release (canonical repo): build + deploy docs at site root, web app at /client/.
-# - Pull requests: build only; preview deploy is handled by docs-deploy-preview.yaml
-#   via workflow_run (runs in base-repo context so fork PRs get write access).
+# - Push to main (canonical repo): deploy docs at site root, web app at /client/.
+# - Pull requests: deploy to preview/pr-<N>/ (docs at root of preview, app at preview/pr-<N>/client/).
 #
 # PR: docs always built; web client (npm) built with public SDK for all, or private SDK only for allowlisted authors.
 # Main/release (push): key used → private NGC for SDK.
@@ -96,17 +95,6 @@ jobs:
           name: docs-html
           path: ./docs/build
 
-      - name: Save PR number
-        if: github.event_name == 'pull_request'
-        run: echo "${{ github.event.pull_request.number }}" > pr-number.txt
-
-      - name: Upload PR metadata
-        if: github.event_name == 'pull_request'
-        uses: actions/upload-artifact@v6
-        with:
-          name: pr-metadata
-          path: pr-number.txt
-
   build-app:
     name: Build Teleop Web App
     runs-on: ubuntu-latest
@@ -163,9 +151,7 @@ jobs:
     name: Deploy docs
     runs-on: ubuntu-latest
     needs: [check-repo, build-docs, build-app]
-    if: >-
-      needs.check-repo.outputs.is-canonical-repo == 'true'
-      && needs.check-repo.outputs.is-deploy-branch == 'true'
+    if: needs.check-repo.outputs.is-canonical-repo == 'true' && (needs.check-repo.outputs.is-deploy-branch == 'true' || github.event_name == 'pull_request')
     permissions:
       contents: write  # push to gh-pages
     steps:
@@ -183,12 +169,44 @@ jobs:
 
       - name: Place web app under subpath
         run: |
-          mkdir -p ./docs/build/client
-          cp -r ./webapp/. ./docs/build/client/
+          if [ "${{ github.event_name }}" = 'pull_request' ]; then
+            CLIENT_DIR=./docs/build/current/client
+          else
+            CLIENT_DIR=./docs/build/client
+          fi
+          mkdir -p "$CLIENT_DIR"
+          cp -r ./webapp/. "$CLIENT_DIR/"
 
-      - name: Deploy to gh-pages
-        uses: peaceiris/actions-gh-pages@v4
+      - name: Deploy to gh-pages (main branch)
+        if: github.event_name == 'push' && needs.check-repo.outputs.is-deploy-branch == 'true'
+        uses: peaceiris/actions-gh-pages@v3
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           publish_dir: ./docs/build
           keep_files: true
+
+      - name: Deploy PR preview to gh-pages
+        if: github.event_name == 'pull_request'
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./docs/build/current
+          destination_dir: preview/pr-${{ github.event.pull_request.number }}
+          keep_files: true
+
+      - name: Add preview URL to workflow summary
+        if: github.event_name == 'pull_request'
+        run: |
+          base="https://${{ github.repository_owner }}.github.io/${{ github.event.repository.name }}/preview/pr-${{ github.event.pull_request.number }}/"
+          client_url="${base}client/"
+          {
+            echo "## Docs preview"
+            echo
+            echo "Built docs for this PR are available at:"
+            echo
+            echo "**${base}**"
+            echo
+            echo "Teleop web app (subpath \`/client/\`): **${client_url}**"
+            echo
+            echo "(It may take a minute to appear after the workflow completes.)"
+          } >> "$GITHUB_STEP_SUMMARY"
diff --git a/docs/source/getting_started/contributing.rst b/docs/source/getting_started/contributing.rst
index d59c19a3b..8b7de74e4 100644
--- a/docs/source/getting_started/contributing.rst
+++ b/docs/source/getting_started/contributing.rst
@@ -9,3 +9,47 @@ We welcome contributions. Please see the repository's `CONTRIBUTING.md <https://
 - Code of conduct and how to contribute
 - Development setup and coding standards
 - Pull request process
+
+Previewing documentation changes
+--------------------------------
+
+Local build
+~~~~~~~~~~~
+
+Build the docs locally to catch broken links and rendering issues before opening
+a pull request:
+
+.. code-block:: bash
+
+   cd docs
+   pip install -r requirements.txt
+   make current-docs
+
+The output is written to ``docs/build/current/``. Open ``index.html`` in a
+browser to inspect it. Sphinx is run with ``-W --keep-going``, so warnings are
+treated as errors — fix them locally before pushing.
+
+PR preview on GitHub Pages
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Pull requests that touch the documentation automatically trigger the
+``Build & deploy docs`` workflow. When the PR branch lives in
+``NVIDIA/IsaacTeleop`` (not a fork), the workflow publishes a preview to
+GitHub Pages at:
+
+.. code-block:: text
+
+   https://nvidia.github.io/IsaacTeleop/preview/pr-<N>/
+
+The preview link is also added to the workflow run's *Summary* tab. It is
+refreshed on each push to the PR. Previews accumulate on the ``gh-pages``
+branch under ``preview/``; maintainers can clear them by manually running the
+``Cleanup docs PR previews`` workflow from the Actions tab.
+
+.. note::
+
+   Pull requests opened **from a fork** do not get an automatic preview because
+   the workflow's ``GITHUB_TOKEN`` is read-only in that context and cannot push
+   to ``gh-pages``. If you have write access to ``NVIDIA/IsaacTeleop``, push
+   your branch there directly to get a preview; otherwise, attach screenshots of
+   your local build to the PR description.