diff --git a/Makefile b/Makefile
index 530e6e0..a97e797 100644
--- a/Makefile
+++ b/Makefile
@@ -1861,7 +1861,8 @@
 
 doc:
 	$(s)echo "  BUILD DOCUMENTATION"
-	$(q)${MAKE} --no-print-directory -C ${DOCS_PATH} html
+	$(if $(host-poetry),$(q)poetry -q install --with docs --no-root)
+	$(q)$(if $(host-poetry),poetry run )${MAKE} --no-print-directory -C ${DOCS_PATH} html
 
 enctool: ${ENCTOOL}
 
diff --git a/docs/getting_started/docs-build.rst b/docs/getting_started/docs-build.rst
index 54e29dd..e11da77 100644
--- a/docs/getting_started/docs-build.rst
+++ b/docs/getting_started/docs-build.rst
@@ -42,7 +42,7 @@
 
 .. code:: shell
 
-   poetry run make doc
+   make doc
 
 Output from the build process will be placed in: ``docs/build/html``.
 
@@ -55,7 +55,7 @@
 
 .. code:: shell
 
-   poetry run make -C docs help
+   make -C docs help
 
 To build the documentation in PDF format, additionally ensure that the following
 packages are installed:
@@ -80,9 +80,10 @@
 Building rendered documentation from Poetry's virtual environment
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-The command ``poetry run`` used in the steps above executes the input command
-from inside the project's virtual environment. The easiest way to activate this
-virtual environment is with the ``poetry shell`` command.
+If Poetry is installed, the ``doc`` target wraps its build steps with ``poetry
+run``, which runs the specified command within the project's virtual
+environment. The easiest way to activate this environment manually is by using
+the ``poetry shell`` command.
 
 Running ``poetry shell`` from the directory containing this project, activates
 the same virtual environment. This creates a sub-shell through which you can
@@ -91,7 +92,7 @@
 .. code:: shell
 
     poetry shell
-    make doc
+    make -C docs html
 
 Type ``exit`` to deactivate the virtual environment and exit this new shell. For
 other use cases, please see the official `Poetry`_ documentation.
@@ -121,7 +122,7 @@
 
 --------------
 
-*Copyright (c) 2019-2024, Arm Limited. All rights reserved.*
+*Copyright (c) 2019-2025, Arm Limited. All rights reserved.*
 
 .. _Sphinx: http://www.sphinx-doc.org/en/master/
 .. _Poetry: https://python-poetry.org/docs/