diff --git a/Documentation/Doxyfile-internal.in b/Documentation/Doxyfile-internal.in
new file mode 100644
index 00000000..9d4cf9d9
--- /dev/null
+++ b/Documentation/Doxyfile-internal.in
@@ -0,0 +1,30 @@
+# SPDX-License-Identifier: CC-BY-SA-4.0
+
+@INCLUDE_PATH          = @TOP_BUILDDIR@/Documentation
+@INCLUDE               = Doxyfile
+
+HIDE_UNDOC_CLASSES     = NO
+HIDE_UNDOC_MEMBERS     = NO
+HTML_OUTPUT            = internal-api-html
+INTERNAL_DOCS          = YES
+
+INPUT                  = "@TOP_SRCDIR@/Documentation" \
+                         "@TOP_SRCDIR@/include/libcamera" \
+                         "@TOP_SRCDIR@/src/ipa/ipu3" \
+                         "@TOP_SRCDIR@/src/ipa/libipa" \
+                         "@TOP_SRCDIR@/src/libcamera" \
+                         "@TOP_BUILDDIR@/include/libcamera" \
+                         "@TOP_BUILDDIR@/src/libcamera"
+
+EXCLUDE                = @TOP_SRCDIR@/include/libcamera/base/span.h \
+                         @TOP_SRCDIR@/include/libcamera/internal/device_enumerator_sysfs.h \
+                         @TOP_SRCDIR@/include/libcamera/internal/device_enumerator_udev.h \
+                         @TOP_SRCDIR@/include/libcamera/internal/ipc_pipe_unixsocket.h \
+                         @TOP_SRCDIR@/src/libcamera/device_enumerator_sysfs.cpp \
+                         @TOP_SRCDIR@/src/libcamera/device_enumerator_udev.cpp \
+                         @TOP_SRCDIR@/src/libcamera/ipc_pipe_unixsocket.cpp \
+                         @TOP_SRCDIR@/src/libcamera/pipeline/ \
+                         @TOP_SRCDIR@/src/libcamera/tracepoints.cpp \
+                         @TOP_BUILDDIR@/include/libcamera/internal/tracepoints.h \
+                         @TOP_BUILDDIR@/include/libcamera/ipa/soft_ipa_interface.h \
+                         @TOP_BUILDDIR@/src/libcamera/proxy/
diff --git a/Documentation/Doxyfile-public.in b/Documentation/Doxyfile-public.in
new file mode 100644
index 00000000..7fbe53d5
--- /dev/null
+++ b/Documentation/Doxyfile-public.in
@@ -0,0 +1,15 @@
+# SPDX-License-Identifier: CC-BY-SA-4.0
+
+@INCLUDE_PATH          = @TOP_BUILDDIR@/Documentation
+@INCLUDE               = Doxyfile
+
+HIDE_UNDOC_CLASSES     = YES
+HIDE_UNDOC_MEMBERS     = YES
+HTML_OUTPUT            = api-html
+INTERNAL_DOCS          = NO
+
+INPUT                  = "@TOP_SRCDIR@/Documentation" \
+                         "@INPUT@" \
+                         "@TOP_BUILDDIR@/src/libcamera/version.cpp"
+
+EXCLUDE                = @TOP_SRCDIR@/include/libcamera/base/span.h
diff --git a/Documentation/Doxyfile.in b/Documentation/Doxyfile.in
index dd1d909b..a70aee43 100644
--- a/Documentation/Doxyfile.in
+++ b/Documentation/Doxyfile.in
@@ -22,14 +22,6 @@ CASE_SENSE_NAMES       = YES
 QUIET                  = YES
 WARN_AS_ERROR          = @WARN_AS_ERROR@
 
-INPUT                  = "@TOP_SRCDIR@/Documentation" \
-                         "@TOP_SRCDIR@/include/libcamera" \
-                         "@TOP_SRCDIR@/src/ipa/ipu3" \
-                         "@TOP_SRCDIR@/src/ipa/libipa" \
-                         "@TOP_SRCDIR@/src/libcamera" \
-                         "@TOP_BUILDDIR@/include/libcamera" \
-                         "@TOP_BUILDDIR@/src/libcamera"
-
 FILE_PATTERNS          = *.c \
                          *.cpp \
                          *.dox \
@@ -37,19 +29,6 @@ FILE_PATTERNS          = *.c \
 
 RECURSIVE              = YES
 
-EXCLUDE                = @TOP_SRCDIR@/include/libcamera/base/span.h \
-                         @TOP_SRCDIR@/include/libcamera/internal/device_enumerator_sysfs.h \
-                         @TOP_SRCDIR@/include/libcamera/internal/device_enumerator_udev.h \
-                         @TOP_SRCDIR@/include/libcamera/internal/ipc_pipe_unixsocket.h \
-                         @TOP_SRCDIR@/src/libcamera/device_enumerator_sysfs.cpp \
-                         @TOP_SRCDIR@/src/libcamera/device_enumerator_udev.cpp \
-                         @TOP_SRCDIR@/src/libcamera/ipc_pipe_unixsocket.cpp \
-                         @TOP_SRCDIR@/src/libcamera/pipeline/ \
-                         @TOP_SRCDIR@/src/libcamera/tracepoints.cpp \
-                         @TOP_BUILDDIR@/include/libcamera/internal/tracepoints.h \
-                         @TOP_BUILDDIR@/include/libcamera/ipa/soft_ipa_interface.h \
-                         @TOP_BUILDDIR@/src/libcamera/proxy/
-
 EXCLUDE_PATTERNS       = @TOP_BUILDDIR@/include/libcamera/ipa/*_serializer.h \
                          @TOP_BUILDDIR@/include/libcamera/ipa/*_proxy.h \
                          @TOP_BUILDDIR@/include/libcamera/ipa/ipu3_*.h \
@@ -72,8 +51,6 @@ EXCLUDE_SYMBOLS        = libcamera::BoundMethodArgs \
 
 EXCLUDE_SYMLINKS       = YES
 
-HTML_OUTPUT            = api-html
-
 GENERATE_LATEX         = NO
 
 MACRO_EXPANSION        = YES
diff --git a/Documentation/meson.build b/Documentation/meson.build
index 30d39523..8349d924 100644
--- a/Documentation/meson.build
+++ b/Documentation/meson.build
@@ -24,12 +24,22 @@ if doxygen.found() and dot.found()
 
     cdata.set('PREDEFINED', ' \\\n\t\t\t '.join(doxygen_predefined))
 
+    # We run doxygen twice - the first run excludes internal API objects as it
+    # is intended to document the public API only. A second run covers all of
+    # the library's objects for libcamera developers. Common configuration is
+    # set in an initially generated Doxyfile, which is then included by the two
+    # final Doxyfiles. We collected a list of the public sources in
+    # doxygen_public_sources to pass to the public run and include it in cdata
+    # here - although both Doxyfile and Doxyfile-internal will also receive
+    # the same parameter they simply ignore it.
+
+    cdata.set('INPUT', '" \\\n\t\t\t "'.join(doxygen_public_sources))
+
     doxyfile = configure_file(input : 'Doxyfile.in',
                               output : 'Doxyfile',
                               configuration : cdata)
 
-    doxygen_input = [
-        doxyfile,
+    global_doxygen_input = [
         libcamera_base_headers,
         libcamera_base_sources,
         libcamera_internal_headers,
@@ -42,16 +52,44 @@ if doxygen.found() and dot.found()
     ]
 
     if is_variable('ipu3_ipa_sources')
-        doxygen_input += [ipu3_ipa_sources]
+        global_doxygen_input += [ipu3_ipa_sources]
     endif
 
+    # This is the "public" run of doxygen generating an abridged version of the
+    # API's documentation, as informed by the INPUT parameter in cdata.
+
+    doxyfile_public = configure_file(input : 'Doxyfile-public.in',
+                                     output : 'Doxyfile-public',
+                                     configuration : cdata)
+
+    public_doxygen_input = global_doxygen_input
+    public_doxygen_input += doxyfile_public
+
     custom_target('doxygen',
-                  input : doxygen_input,
+                  input : public_doxygen_input,
                   output : 'api-html',
-                  command : [doxygen, doxyfile],
+                  command : [doxygen, doxyfile_public],
                   install : true,
                   install_dir : doc_install_dir,
                   install_tag : 'doc')
+
+    # This is the internal documentation, which hard-codes a list of directories
+    # to parse in its doxyfile and so ignores the INPUT parameter from cdata.
+
+    doxyfile_internal = configure_file(input : 'Doxyfile-internal.in',
+                                       output : 'Doxyfile-internal',
+                                       configuration : cdata)
+
+    internal_doxygen_input = global_doxygen_input
+    internal_doxygen_input += doxyfile_internal
+
+    custom_target('doxygen-internal',
+                  input : internal_doxygen_input,
+                  output : 'internal-api-html',
+                  command : [doxygen, doxyfile_internal],
+                  install : true,
+                  install_dir : doc_install_dir,
+                  install_tag : 'doc-internal')
 endif
 
 #
diff --git a/include/libcamera/base/meson.build b/include/libcamera/base/meson.build
index bace25d5..837ef40a 100644
--- a/include/libcamera/base/meson.build
+++ b/include/libcamera/base/meson.build
@@ -38,3 +38,10 @@ libcamera_base_headers = [
 
 install_headers(libcamera_base_public_headers,
                 subdir : libcamera_base_include_dir)
+
+foreach lbph : libcamera_base_public_headers
+	doxygen_public_sources += '/'.join(
+		meson.project_source_root(),
+		'@0@'.format(lbph)
+	)
+endforeach
diff --git a/include/libcamera/internal/meson.build b/include/libcamera/internal/meson.build
index 76c939bf..53fc2846 100644
--- a/include/libcamera/internal/meson.build
+++ b/include/libcamera/internal/meson.build
@@ -60,5 +60,12 @@ libcamera_internal_headers = [
     libcamera_internal_headers_undocumented,
 ]
 
+foreach lph : libcamera_internal_headers_documented
+	doxygen_public_sources += '/'.join(
+		meson.project_source_root(),
+		'@0@'.format(lph)
+	)
+endforeach
+
 subdir('converter')
 subdir('software_isp')
diff --git a/include/libcamera/meson.build b/include/libcamera/meson.build
index 84c6c4cb..59273785 100644
--- a/include/libcamera/meson.build
+++ b/include/libcamera/meson.build
@@ -26,6 +26,13 @@ subdir('ipa')
 install_headers(libcamera_public_headers,
                 subdir : libcamera_include_dir)
 
+foreach lph : libcamera_public_headers
+	doxygen_public_sources += '/'.join(
+		meson.project_source_root(),
+		'@0@'.format(lph)
+	)
+endforeach
+
 #
 # Generate headers from templates.
 #
@@ -86,6 +93,7 @@ foreach mode, entry : controls_map
                                                 '-r', ranges_file, '@INPUT@'],
                                      install : true,
                                      install_dir : libcamera_headers_install_dir)
+    doxygen_public_sources += control_headers.get(-1).full_path()
 endforeach
 
 libcamera_public_headers += control_headers
@@ -102,6 +110,7 @@ formats_h = custom_target('formats_h',
                           install : true,
                           install_dir : libcamera_headers_install_dir)
 libcamera_public_headers += formats_h
+doxygen_public_sources += formats_h.full_path()
 
 # libcamera.h
 libcamera_h = custom_target('gen-header',
@@ -112,6 +121,7 @@ libcamera_h = custom_target('gen-header',
                             install_dir : libcamera_headers_install_dir)
 
 libcamera_public_headers += libcamera_h
+doxygen_public_sources += libcamera_h.full_path()
 
 # version.h
 version = libcamera_version.split('.')
diff --git a/meson.build b/meson.build
index 2acd8c3e..8084f2fb 100644
--- a/meson.build
+++ b/meson.build
@@ -241,6 +241,14 @@ endif
 # Utilities are parsed first to provide support for other components.
 subdir('utils')
 
+# To support auto-generation of documentation we need an array of the paths to
+# public headers and source files so that we can tell doxygen which files to
+# look at later. Unfortunately the inclusion of custom targets in some of the
+# existing arrays precludes using them directly and you cannot generate File
+# objects from generated files, so we need to collect paths to relevant files
+# within an array.
+doxygen_public_sources = []
+
 subdir('include')
 subdir('src')
 
diff --git a/src/libcamera/base/class.cpp b/src/libcamera/base/class.cpp
index 61998398..b7ef3a1e 100644
--- a/src/libcamera/base/class.cpp
+++ b/src/libcamera/base/class.cpp
@@ -184,6 +184,7 @@ Extensible::Extensible(std::unique_ptr<Extensible::Private> d)
  */
 
 /**
+ * \internal
  * \class Extensible::Private
  * \brief Base class for private data managed through a d-pointer
  */
diff --git a/src/libcamera/base/meson.build b/src/libcamera/base/meson.build
index 523c5885..ae949a51 100644
--- a/src/libcamera/base/meson.build
+++ b/src/libcamera/base/meson.build
@@ -30,6 +30,13 @@ libcamera_base_sources = [
 	libcamera_base_internal_sources
 ]
 
+foreach lbps : libcamera_base_public_sources
+	doxygen_public_sources += '/'.join(
+		meson.project_source_root(),
+		'@0@'.format(lbps)
+	)
+endforeach
+
 libdw = dependency('libdw', required : false)
 libunwind = dependency('libunwind', required : false)
 
diff --git a/src/libcamera/camera.cpp b/src/libcamera/camera.cpp
index 67f34901..63285e2b 100644
--- a/src/libcamera/camera.cpp
+++ b/src/libcamera/camera.cpp
@@ -560,6 +560,13 @@ CameraConfiguration::Status CameraConfiguration::validateColorSpaces(ColorSpaceF
  */
 
 /**
+ * \internal
+ * \file libcamera\internal\camera.h
+ * \brief Internal Camera device handling
+ */
+
+/**
+ * \internal
  * \class Camera::Private
  * \brief Base class for camera private data
  *
diff --git a/src/libcamera/camera_manager.cpp b/src/libcamera/camera_manager.cpp
index 95a9e326..5a21132a 100644
--- a/src/libcamera/camera_manager.cpp
+++ b/src/libcamera/camera_manager.cpp
@@ -23,6 +23,7 @@
  */
 
 /**
+ * \internal
  * \file libcamera/internal/camera_manager.h
  * \brief Internal camera manager support
  */
diff --git a/src/libcamera/framebuffer.cpp b/src/libcamera/framebuffer.cpp
index 63d679cb..0f8c8f9d 100644
--- a/src/libcamera/framebuffer.cpp
+++ b/src/libcamera/framebuffer.cpp
@@ -16,7 +16,10 @@
 /**
  * \file libcamera/framebuffer.h
  * \brief Frame buffer handling
- *
+ */
+
+/**
+ * \internal
  * \file libcamera/internal/framebuffer.h
  * \brief Internal frame buffer handling support
  */
@@ -105,6 +108,7 @@ LOG_DEFINE_CATEGORY(Buffer)
  */
 
 /**
+ * \internal
  * \class FrameBuffer::Private
  * \brief Base class for FrameBuffer private data
  *
diff --git a/src/libcamera/meson.build b/src/libcamera/meson.build
index 9c74241d..1cc24cdc 100644
--- a/src/libcamera/meson.build
+++ b/src/libcamera/meson.build
@@ -59,6 +59,13 @@ libcamera_sources = [
 	libcamera_internal_sources
 ]
 
+foreach lps : libcamera_public_sources
+	doxygen_public_sources += '/'.join(
+		meson.project_source_root(),
+		'@0@'.format(lps)
+	)
+endforeach
+
 libcamera_sources += libcamera_public_headers
 libcamera_sources += libcamera_generated_ipa_headers
 libcamera_sources += libcamera_tracepoint_header
diff --git a/src/libcamera/request.cpp b/src/libcamera/request.cpp
index cfb451e9..e8604121 100644
--- a/src/libcamera/request.cpp
+++ b/src/libcamera/request.cpp
@@ -33,6 +33,7 @@ namespace libcamera {
 LOG_DEFINE_CATEGORY(Request)
 
 /**
+ * \internal
  * \class Request::Private
  * \brief Request private data
  *