diff --git a/core/Makefile b/core/Makefile
index cf5d90f15b..7076dbd903 100644
--- a/core/Makefile
+++ b/core/Makefile
@@ -70,6 +70,25 @@ $(gen): frameworks/base/docs/docs-redirect-index.html
 	@cp -f $< $@
 endif
 
+ndk_doxygen_out := $(OUT_NDK_DOCS)
+ndk_headers := $(SOONG_OUT_DIR)/ndk/sysroot/usr/include
+ndk_docs_src_dir := frameworks/native/docs
+ndk_doxyfile := $(ndk_docs_src_dir)/Doxyfile
+ndk_docs_srcs := $(addprefix $(ndk_docs_src_dir)/,\
+    $(call find-files-in-subdirs,$(ndk_docs_src_dir),"*",.))
+$(ndk_doxygen_out)/index.html: $(ndk_docs_srcs) $(SOONG_OUT_DIR)/ndk.timestamp
+	@mkdir -p $(ndk_doxygen_out)
+	@echo "Generating NDK docs to $(ndk_doxygen_out)"
+	@( cat $(ndk_doxyfile); \
+		echo "INPUT=$(ndk_headers)"; \
+		echo "HTML_OUTPUT=$(ndk_doxygen_out)" \
+	) | doxygen -
+
+# Note: Not a part of the docs target because we don't have doxygen available.
+# You can run this target locally if you have doxygen installed.
+ndk-docs: $(ndk_doxygen_out)/index.html
+.PHONY: ndk-docs
+
 # -----------------------------------------------------------------
 # property_overrides_split_enabled
 property_overrides_split_enabled :=
diff --git a/core/envsetup.mk b/core/envsetup.mk
index c99c70ff9b..4e3db0c1ab 100644
--- a/core/envsetup.mk
+++ b/core/envsetup.mk
@@ -343,6 +343,7 @@ HOST_COMMON_OUT_ROOT := $(HOST_OUT_ROOT)/common
 PRODUCT_OUT := $(TARGET_PRODUCT_OUT_ROOT)/$(TARGET_DEVICE)
 
 OUT_DOCS := $(TARGET_COMMON_OUT_ROOT)/docs
+OUT_NDK_DOCS := $(TARGET_COMMON_OUT_ROOT)/ndk-docs
 
 BUILD_OUT_EXECUTABLES := $(BUILD_OUT)/bin
 SOONG_HOST_OUT_EXECUTABLES := $(SOONG_HOST_OUT)/bin