diff --git a/.github/workflows/generate-docs.yml b/.github/workflows/generate-docs.yml
new file mode 100644
index 0000000000..5b7bfe2127
--- /dev/null
+++ b/.github/workflows/generate-docs.yml
@@ -0,0 +1,81 @@
+name: Generate Documentation
+
+on: push
+# on:
+#   schedule:
+#     - cron: '0 0 * * *'
+
+jobs:
+  generate:
+    if: github.repository == 'zeek/zeek'
+    runs-on: ubuntu-18.04
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Update Submodules
+        shell: bash
+        run: |
+          auth_header="$(git config --local --get http.https://github.com/.extraheader)"
+          git submodule sync --recursive
+          git -c "http.extraheader=$auth_header" -c protocol.version=2 \
+            submodule update --init --force --recursive --depth=1
+          ( cd doc && git checkout master )
+
+      - name: Fetch Dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get -y install \
+            git \
+            cmake \
+            make \
+            gcc \
+            g++ \
+            flex \
+            bison \
+            libpcap-dev \
+            libssl-dev \
+            python3 \
+            python3-dev \
+            python3-pip\
+            swig \
+            zlib1g-dev \
+            libkrb5-dev \
+            bsdmainutils \
+            sqlite3
+          # Many distros adhere to PEP 394's recommendation for `python` =
+          # `python2` so this is a simple workaround until we drop Python 2
+          # support and explicitly use `python3` for all invocations.
+          sudo ln -sf /usr/bin/python3 /usr/local/bin/python
+
+      - name: Build
+        run: |
+          ( cd build && make -j 3 )
+
+      - name: Generate Docs
+        shell: bash
+        run: |
+          git config --global user.name zeek-bot
+          git config --global user.email info@zeek.org
+
+          echo "*** Generating Zeekygen Docs ***"
+          ./ci/update-zeekygen-docs.sh || exit 1
+          cd doc
+          echo "*** Generating Sphinx Docs ***"
+          make > make.out 2>&1
+          make_status=$?
+          cat make.out
+          test ${make_status} -ne 0 && exit 1
+          grep -q WARNING make.out && exit 1
+          rm make.out
+          echo "*** Pushing zeek-docs Changes ***"
+          git remote set-url origin "https://zeek-bot:${{ secrets.ZEEK_BOT_TOKEN }}@github.com/zeek/zeek-docs"
+          git add scripts/
+          git commit -m "Generate docs"
+          git push
+          cd ..
+
+          echo "*** Update zeek/doc Submodule ***"
+          git add doc
+          git commit -m 'Update doc submodule [nomail] [skip ci]'
+          git push
diff --git a/testing/scripts/update-zeekygen-docs.sh b/ci/update-zeekygen-docs.sh
similarity index 97%
rename from testing/scripts/update-zeekygen-docs.sh
rename to ci/update-zeekygen-docs.sh
index 99462b39dc..807e6c698a 100755
--- a/testing/scripts/update-zeekygen-docs.sh
+++ b/ci/update-zeekygen-docs.sh
@@ -9,7 +9,7 @@ unset ZEEK_DEFAULT_LISTEN_RETRY;
 unset ZEEK_DEFAULT_CONNECT_RETRY;
 
 dir="$( cd "$( dirname "$0" )" && pwd )"
-source_dir="$( cd $dir/../.. && pwd )"
+source_dir="$( cd $dir/.. && pwd )"
 build_dir=$source_dir/build
 conf_file=$build_dir/zeekygen-test.conf
 output_dir=$source_dir/doc
diff --git a/testing/btest/coverage/sphinx-zeekygen-docs.sh b/testing/btest/coverage/sphinx-zeekygen-docs.sh
deleted file mode 100644
index 20e18c2364..0000000000
--- a/testing/btest/coverage/sphinx-zeekygen-docs.sh
+++ /dev/null
@@ -1,53 +0,0 @@
-# This script checks whether the reST docs generated by zeekygen are stale.
-# If this test fails when testing the master branch, then simply run:
-#
-#     testing/scripts/update-zeekygen-docs.sh
-#
-#  and then commit the changes.
-#
-# @TEST-EXEC: bash $SCRIPTS/update-zeekygen-docs.sh ./doc
-# @TEST-EXEC: bash %INPUT
-
-# This test isn't run on Travis or Cirrus CI for pull-requests.  Instead,
-# the person merging to master will manually update zeek-docs.
-
-if [ -n "$CIRRUS_PR" ]; then
-    exit 0
-fi
-
-if [ -n "$TRAVIS_PULL_REQUEST" ]; then
-    if [ "$TRAVIS_PULL_REQUEST" != "false" ]; then
-        exit 0
-    fi
-fi
-
-function check_diff
-    {
-    local file=$1
-    echo "Checking $file for differences"
-    diff -Nru $DIST/$file $file 1>&2
-
-    if [ $? -ne 0 ]; then
-        echo "============================" 1>&2
-        echo "" 1>&2
-        echo "$DIST/$file is outdated" 1>&2
-        echo "" 1>&2
-        echo "You can ignore this failure if testing changes that you will" 1>&2
-        echo "submit in a pull-request." 1>&2
-        echo "" 1>&2
-        echo "If this fails in the master branch or when merging to master," 1>&2
-        echo "re-run the following command:" 1>&2
-        echo "" 1>&2
-        echo "    $SCRIPTS/update-zeekygen-docs.sh" 1>&2
-        echo "" 1>&2
-        echo "Then commit/push the changes in the zeek-docs repo" 1>&2
-        echo "(the doc/ directory in the zeek repo)." 1>&2
-        exit 1
-    fi
-    }
-
-for file in $(find ./doc -name autogenerated-*); do
-    check_diff $file
-done
-
-check_diff ./doc/scripts