diff --git a/.readthedocs.yml b/.readthedocs.yml
index 2a77f55560..749aaa062a 100644
--- a/.readthedocs.yml
+++ b/.readthedocs.yml
@@ -3,9 +3,11 @@
 
 version: 2
 
-# TODO(robotics-simulation): pdf format fails to build on readthedocs
-# formats:
-#   - pdf
+# Enable downloadable documentation formats
+formats:
+  - pdf
+  - htmlzip
+  - epub
 
 build:
   os: ubuntu-24.04
diff --git a/doc/conf.py b/doc/conf.py
index bd71ed9478..7830e75311 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -242,3 +242,18 @@
 
 # Add LaTeX macros for LATEX builder
 latex_elements = {'preamble': latex_macros}
+
+# -- Options for LaTeX/PDF output ---------------------------------------------
+
+# Use xelatex for better Unicode support (required for KaTeX symbols)
+latex_engine = 'xelatex'
+
+# Furo theme doesn't support LaTeX builds, use manual theme for PDF
+latex_theme = 'manual'
+
+# Configure PDF output
+latex_elements.update({
+    'papersize': 'letterpaper',
+    'pointsize': '10pt',
+    'extraclassoptions': 'openany,oneside',
+})