diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7a7e225e46..fe7212305e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -71,12 +71,29 @@ set(version_number_files
         doxygen/tfpsacrypto.doxyfile)
 foreach(file ${version_number_files})
     configure_file(${file}.in
-                   ${PROJECT_SOURCE_DIR}/${file})
+                   ${PROJECT_BINARY_DIR}/${file})
 endforeach(file)
 
 ADD_CUSTOM_TARGET(${TF_PSA_CRYPTO_TARGET_PREFIX}tfpsacrypto-apidoc
     COMMAND doxygen tfpsacrypto.doxyfile
-    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/doxygen)
+    WORKING_DIRECTORY ${PROJECT_BINARY_DIR}/doxygen)
+
+# Create an in-tree symlink to the apidoc built in the binary folder. This is
+# only performed on Unix platforms and for out-of-tree builds. The existence
+# check is deferred to build time so that multiple out-of-tree build dirs each
+# register the command, but only the first one to build actually creates the
+# symlink.
+if(UNIX AND NOT CMAKE_SOURCE_DIR STREQUAL CMAKE_BINARY_DIR)
+    file(RELATIVE_PATH _apidoc_rel_path
+        ${CMAKE_CURRENT_SOURCE_DIR}
+        ${PROJECT_BINARY_DIR}/apidoc)
+    add_custom_command(TARGET ${TF_PSA_CRYPTO_TARGET_PREFIX}tfpsacrypto-apidoc POST_BUILD
+        COMMAND sh -c
+            "test -e '${CMAKE_CURRENT_SOURCE_DIR}/apidoc' || \
+             '${CMAKE_COMMAND}' -E create_symlink \
+             '${_apidoc_rel_path}' '${CMAKE_CURRENT_SOURCE_DIR}/apidoc'"
+        COMMENT "Creating in-tree symlink to apidoc documentation")
+endif()
 
 option(ENABLE_PROGRAMS "Build TF-PSA-Crypto programs." ON)
 
diff --git a/ChangeLog.d/doxygen-build-folder.txt b/ChangeLog.d/doxygen-build-folder.txt
new file mode 100644
index 0000000000..5b03d8e60a
--- /dev/null
+++ b/ChangeLog.d/doxygen-build-folder.txt
@@ -0,0 +1,5 @@
+Bugfix
+   * Doxygen documentation `apidoc` is now built into CMake's binary folder,
+     not in-tree. For backward compatibility on Unix platforms an in-tree
+     symlink named `apidoc` is created pointing to the folder in the build
+     directory. Fixes #381.
diff --git a/README.md b/README.md
index ada1e32126..576c378f7c 100644
--- a/README.md
+++ b/README.md
@@ -97,8 +97,8 @@ To generate a local copy of the library documentation in HTML format:
 1. Run `cmake -B /path/to/build_dir /path/to/TF-PSA-Crypto/source`
 1. Run `cmake --build /path/to/build_dir --target tfpsacrypto-apidoc`
 1. Open one of the main generated HTML files:
-   * `apidoc/index.html`
-   * `apidoc/modules.html` or `apidoc/topics.html`
+   * `/path/to/build_dir/apidoc/index.html`
+   * `/path/to/build_dir/apidoc/modules.html`
 
 Compiling
 ---------
diff --git a/doxygen/tfpsacrypto.doxyfile.in b/doxygen/tfpsacrypto.doxyfile.in
index 9bee0d92ba..3c9605c5ad 100644
--- a/doxygen/tfpsacrypto.doxyfile.in
+++ b/doxygen/tfpsacrypto.doxyfile.in
@@ -6,9 +6,9 @@ EXTRACT_ALL            = YES
 EXTRACT_PRIVATE        = YES
 EXTRACT_STATIC         = YES
 CASE_SENSE_NAMES       = NO
-INPUT                  = ../include input ../tests/include/alt-dummy
+INPUT                  = "@PROJECT_SOURCE_DIR@/include" "input" "@PROJECT_SOURCE_DIR@/tests/include/alt-dummy"
 FILE_PATTERNS          = *.h
-EXCLUDE                = ../include/mbedtls/private
+EXCLUDE                = "@PROJECT_SOURCE_DIR@/include/mbedtls/private"
 RECURSIVE              = YES
 EXCLUDE_SYMLINKS       = YES
 SOURCE_BROWSER         = YES
@@ -21,7 +21,7 @@ SEARCHENGINE           = YES
 GENERATE_LATEX         = NO
 MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
-INCLUDE_PATH           = ../include ../drivers/builtin/include
+INCLUDE_PATH           = "@PROJECT_SOURCE_DIR@/include" "@PROJECT_SOURCE_DIR@/drivers/builtin/include"
 EXPAND_AS_DEFINED      = MBEDTLS_PRIVATE
 CLASS_DIAGRAMS         = NO
 HAVE_DOT               = YES