diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 4490038dfe..d20fe98544 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -59,7 +59,7 @@ variables:
   ESP_ENV_IMAGE: "${CI_DOCKER_REGISTRY}/esp-env-v5.0:1"
   AFL_FUZZER_TEST_IMAGE: "${CI_DOCKER_REGISTRY}/afl-fuzzer-test-v5.0:1-1"
   CLANG_STATIC_ANALYSIS_IMAGE: "${CI_DOCKER_REGISTRY}/clang-static-analysis-v5.0:1-1"
-  ESP_IDF_DOC_ENV_IMAGE: "${CI_DOCKER_REGISTRY}/esp-idf-doc-env-v5.0:1-1"
+  ESP_IDF_DOC_ENV_IMAGE: "${CI_DOCKER_REGISTRY}/esp-idf-doc-env-v5.0:1-2"
   SONARQUBE_SCANNER_IMAGE: "${CI_DOCKER_REGISTRY}/sonarqube-scanner:3"
   LINUX_SHELL_IMAGE: "${CI_DOCKER_REGISTRY}/linux-shells:2"
 
diff --git a/.gitlab/ci/docs.yml b/.gitlab/ci/docs.yml
index 51849cee9a..6ef800c6fc 100644
--- a/.gitlab/ci/docs.yml
+++ b/.gitlab/ci/docs.yml
@@ -69,7 +69,7 @@ check_docs_lang_sync:
   parallel:
     matrix:
       - DOCLANG: ["en", "zh_CN"]
-        DOCTGT: ["esp32", "esp32s2", "esp32s3", "esp32c3"] # TODO: temporary disable building docs for esp32c2, IDF-4551
+        DOCTGT: ["esp32", "esp32s2", "esp32s3", "esp32c3", "esp32c2"]
 
 check_docs_gh_links:
   image: $ESP_IDF_DOC_ENV_IMAGE
diff --git a/docs/conf_common.py b/docs/conf_common.py
index 9973e56e8c..a76f84c1f4 100644
--- a/docs/conf_common.py
+++ b/docs/conf_common.py
@@ -172,7 +172,7 @@ html_context['github_repo'] = 'esp-idf'
 project_slug = 'esp-idf'
 versions_url = 'https://dl.espressif.com/dl/esp-idf/idf_versions.js'
 
-idf_targets = ['esp32', 'esp32s2', 'esp32s3', 'esp32c3']
+idf_targets = ['esp32', 'esp32s2', 'esp32s3', 'esp32c3', 'esp32c2']
 languages = ['en', 'zh_CN']
 
 google_analytics_id = os.environ.get('CI_GOOGLE_ANALYTICS_ID', None)
diff --git a/docs/requirements.txt b/docs/requirements.txt
index 319c030566..9075a0a0b4 100644
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -1 +1 @@
-esp-docs==0.2.0
+esp-docs==0.2.1