diff --git a/doc/404.rst b/doc/404.rst
index bb98760471f..d11a8369e2c 100644
--- a/doc/404.rst
+++ b/doc/404.rst
@@ -7,7 +7,6 @@ Sorry, Page Not Found
 
 .. image:: images/Zephyr-Kite-in-tree.png
    :align: right
-   :scale: 25%
 
 .. raw:: html
 
diff --git a/doc/conf.py b/doc/conf.py
index e7c8239cc88..fa7b6d269a3 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -82,6 +82,7 @@ extensions = [
     "sphinx_tabs.tabs",
     "zephyr.warnings_filter",
     "zephyr.doxyrunner",
+    "notfound.extension",
 ]
 
 # Only use SVG converter when it is really needed, e.g. LaTeX.
@@ -203,6 +204,10 @@ html_redirect_pages = redirects.REDIRECTS
 warnings_filter_config = str(ZEPHYR_BASE / "doc" / "known-warnings.txt")
 warnings_filter_silent = False
 
+# -- Options for notfound.extension ---------------------------------------
+
+notfound_urls_prefix = f"/{version}/"
+
 # -- Linkcheck options ----------------------------------------------------
 
 extlinks = {
diff --git a/doc/images/Zephyr-Kite-in-tree.png b/doc/images/Zephyr-Kite-in-tree.png
index 23c22dba886..4bd5f33b929 100644
Binary files a/doc/images/Zephyr-Kite-in-tree.png and b/doc/images/Zephyr-Kite-in-tree.png differ
diff --git a/scripts/requirements-doc.txt b/scripts/requirements-doc.txt
index 607db9ad2a5..8400552dfe1 100644
--- a/scripts/requirements-doc.txt
+++ b/scripts/requirements-doc.txt
@@ -6,6 +6,7 @@ sphinx_rtd_theme>=0.5.2,<1.0
 sphinx-tabs
 sphinxcontrib-svg2pdfconverter
 pygments~=2.9
+sphinx-notfound-page>=0.6
 
 # Used by zephyr_module
 pykwalify