diff --git a/documentation/Makefile b/documentation/Makefile
index bade78fe8..897db2b5a 100644
--- a/documentation/Makefile
+++ b/documentation/Makefile
@@ -10,11 +10,8 @@ VALEOPTS       ?= --no-wrap --glob '!migration-guides/release-notes-*.rst'
 SOURCEDIR      = .
 VALEDOCS       ?= $(SOURCEDIR)
 SPHINXLINTDOCS ?= $(SOURCEDIR)
-IMAGEDIRS      = */svg
 BUILDDIR       = _build
 DESTDIR        = final
-SVG2PNG        = rsvg-convert
-SVG2PDF        = rsvg-convert
 
 ifeq ($(shell if which $(SPHINXBUILD) >/dev/null 2>&1; then echo 1; else echo 0; fi),0)
 $(error "The '$(SPHINXBUILD)' command was not found. Make sure you have Sphinx installed")
@@ -24,7 +21,7 @@ endif
 help:
 	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 
-.PHONY: all checks help Makefile clean stylecheck publish epub latexpdf
+.PHONY: all checks help Makefile clean stylecheck publish latexpdf
 
 publish: Makefile checks epub latexpdf html singlehtml
 	rm -rf $(BUILDDIR)/$(DESTDIR)/
@@ -35,22 +32,8 @@ publish: Makefile checks epub latexpdf html singlehtml
 	cp $(BUILDDIR)/singlehtml/index.html $(BUILDDIR)/$(DESTDIR)/singleindex.html
 	sed -i -e 's@index.html#@singleindex.html#@g' $(BUILDDIR)/$(DESTDIR)/singleindex.html
 
-# Build a list of SVG files to convert to PDFs
-PDFs := $(foreach dir, $(IMAGEDIRS), $(patsubst %.svg,%.pdf,$(wildcard $(SOURCEDIR)/$(dir)/*.svg)))
-
-# Build a list of SVG files to convert to PNGs
-PNGs := $(foreach dir, $(IMAGEDIRS), $(patsubst %.svg,%.png,$(wildcard $(SOURCEDIR)/$(dir)/*.svg)))
-
-# Pattern rule for converting SVG to PDF
-%.pdf : %.svg
-	$(SVG2PDF) --format=Pdf --output=$@ $<
-
-# Pattern rule for converting SVG to PNG
-%.png : %.svg
-	$(SVG2PNG) --format=Png --output=$@ $<
-
 clean:
-	@rm -rf $(BUILDDIR) $(PNGs) $(PDFs) poky.yaml sphinx-static/switchers.js releases.rst
+	@rm -rf $(BUILDDIR) poky.yaml sphinx-static/switchers.js releases.rst
 
 checks:
 	$(SOURCEDIR)/tools/check-glossaries --docs-dir $(SOURCEDIR)
@@ -62,14 +45,10 @@ stylecheck:
 sphinx-lint:
 	sphinx-lint $(SPHINXLINTDOCS)
 
-epub: $(PNGs)
-	$(SOURCEDIR)/set_versions.py
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
-
 # Note: we need to pass buf_size here (which is also configurable from
 # texmf.cnf), to avoid following error:
 #   Unable to read an entire line---bufsize=200000. Please increase buf_size in texmf.cnf.
-latexpdf: $(PDFs)
+latexpdf:
 	$(SOURCEDIR)/set_versions.py
 	buf_size=10000000 $(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 
diff --git a/documentation/Pipfile b/documentation/Pipfile
index 7ee1d2290..1e186abb3 100644
--- a/documentation/Pipfile
+++ b/documentation/Pipfile
@@ -9,6 +9,8 @@ verify_ssl = true
 sphinx = "*"
 sphinx-rtd-theme = "*"
 pyyaml = "*"
+# SVG to PNG only supported since 2.0.0
+sphinxcontrib-svg2pdfconverter = ">=2.0.0"
 
 [requires]
 python_version = "3"
diff --git a/documentation/conf.py b/documentation/conf.py
index c07b6c419..9ca8a5415 100644
--- a/documentation/conf.py
+++ b/documentation/conf.py
@@ -66,6 +66,7 @@ extensions = [
     'sphinx.ext.autosectionlabel',
     'sphinx.ext.extlinks',
     'sphinx.ext.intersphinx',
+    'sphinxcontrib.rsvgconverter',
     'yocto-vars'
 ]
 autosectionlabel_prefix_document = True
diff --git a/documentation/tools/host_packages_scripts/pip3_docs.sh b/documentation/tools/host_packages_scripts/pip3_docs.sh
index fd6ad9805..4f92c2a98 100644
--- a/documentation/tools/host_packages_scripts/pip3_docs.sh
+++ b/documentation/tools/host_packages_scripts/pip3_docs.sh
@@ -1 +1 @@
-sudo pip3 install sphinx sphinx_rtd_theme pyyaml
+sudo pip3 install sphinx sphinx_rtd_theme pyyaml 'sphinxcontrib-svg2pdfconverter>=2.0.0'