diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 541223b5..ca119789 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -36,7 +36,26 @@ jobs:
         uses: ./complexity
         with:
           path: coreMQTT
-  test-doxygen-check:
+  test-doxygen-zip-check:
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions/setup-python@v2
+        with:
+          python-version: '3.7.10'
+      - uses: actions/checkout@v2
+        with:
+          repository: aws/aws-iot-device-sdk-embedded-C
+          submodules: recursive
+          ref: main
+          path: aws-iot-device-sdk-embedded-C
+      - name: Test doxygen build action
+        uses: ./doxygen
+        with:
+          path: ./aws-iot-device-sdk-embedded-C
+          libs_parent_dir_path: libraries/standard,libraries/aws
+          generate_zip: true
+  test-doxygen-non-zip-check:
     runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
diff --git a/doxygen/action.yml b/doxygen/action.yml
index 296bd5cf..555da863 100644
--- a/doxygen/action.yml
+++ b/doxygen/action.yml
@@ -5,10 +5,19 @@ inputs:
     description: 'Path to repository folder to run doxygen generation in.'
     required: false
     default: ./
+  libs_parent_dir_path:
+    description: 'Comma-separated list of parent directory path of libraries. Path should be relative to repository root.'
+    required: false
+    default: ./
   doxygen_link:
     description: 'Download link for doxygen tar.gz (default version 1.8.20).'
     required: false
     default: "https://sourceforge.net/projects/doxygen/files/rel-1.8.20/doxygen-1.8.20.linux.bin.tar.gz"
+  generate_zip:
+    description: 'Flag to indicate whether a ZIP output should be created.'
+    required: false
+    default: 'false'
+  
 runs:
   using: "composite"
   steps:
@@ -17,9 +26,13 @@ runs:
         wget -qO- "${{ inputs.doxygen_link }}" | sudo tar --strip-components=1 -xz -C /usr/local
         sudo apt-get install -y libclang-9-dev graphviz
       shell: bash
-    - name: Run Doxygen And Verify Stdout Is Empty
+    - name: Verify Doxygen build and Generate ZIP (if specified)
       working-directory: ${{ inputs.path }}
       run: |
-        doxygen docs/doxygen/config.doxyfile 2>&1 | tee doxyoutput.txt
-        if [[ "$(wc -c < doxyoutput.txt | bc)" = "0" ]]; then exit 0; else exit 1; fi
+        if [[ ${{ inputs.generate_zip }} == "true" ]]; then
+          python3 $GITHUB_ACTION_PATH/generate_doxygen.py --root ./ --library-directories ${{ inputs.libs_parent_dir_path }} --zip
+        else
+          doxygen docs/doxygen/config.doxyfile 2>&1 | tee doxyoutput.txt
+          if [[ "$(wc -c < doxyoutput.txt | bc)" = "0" ]]; then exit 0; else exit 1; fi
+        fi
       shell: bash
diff --git a/doxygen/generate_doxygen.py b/doxygen/generate_doxygen.py
new file mode 100644
index 00000000..f2d9c8e1
--- /dev/null
+++ b/doxygen/generate_doxygen.py
@@ -0,0 +1,107 @@
+#!/usr/bin/env python3
+import subprocess
+import sys
+import argparse
+import os
+import zipfile
+
+# Executes the passed command in a shell subprocess.
+# Returns True if any output is received from the shell process.
+def run_cmd(cmd):
+    """
+    Execute the input command on the shell.
+    """
+    print(f"Executing command: {cmd}")
+    try:
+        result = subprocess.run(
+            cmd,
+            stdout=subprocess.PIPE,
+            stderr=subprocess.STDOUT,
+            shell=True,
+            encoding="utf-8",
+            check=True,
+            timeout=180,
+        )
+        print( result.stdout )
+        return (len(result.stdout) > 0)
+    except subprocess.CalledProcessError as e:
+        result = e.stdout
+        return result
+
+def get_lib_paths(root, lib_parent_dirs):
+    """
+    Get all of the paths, relative to the root, to the libraries for which doxygen
+    output has to be generated.
+    """
+    abs_lib_paths = []
+
+    for lib_parent_dir in lib_parent_dirs:
+        abs_lib_path_dir = os.path.join(root, lib_parent_dir)
+        lib_path_dirs = os.listdir(abs_lib_path_dir)
+        # Determine if it is a library path by checking if the directory contains "docs/doxygen"
+        abs_lib_paths += [os.path.join(abs_lib_path_dir, dir) for dir in lib_path_dirs if os.path.exists(os.path.join(abs_lib_path_dir, dir, "docs", "doxygen"))]
+
+    return abs_lib_paths
+
+
+def main():
+    """
+    Generate documentation and optionally zip it up.
+    """
+    parser = argparse.ArgumentParser(description="Generate all doxygen and optionally zip it.")
+    parser.add_argument("-r", "--root", action="store", required=False, dest="root", help="Repository root path. This defaults to the current working directory.")
+    parser.add_argument("-d", "--library-directories", action="store", required=True, dest="lib_dirs", help="Comma-separate list of parent directories of libraries. These should be relative to repository root.")
+    parser.add_argument("-z", "--zip", action="store_true", required=False, help="Zip all doxygen output.")
+    args = parser.parse_args()
+    repo_root = args.root
+    doZip = args.zip
+
+    # If the root folder is not give, use the current working directory.
+    if( repo_root == None ):
+        repo_root = os.getcwd()
+
+    # Get the absolute paths to all of the libraries in the repository.
+    abs_repo_root = os.path.abspath(repo_root)
+    abs_lib_paths = get_lib_paths(abs_repo_root, args.lib_dirs.split(','))
+    abs_doxy_paths = []
+    doxygen_warnings_flag = False
+
+    # Generate the doxygen for all of the libraries.
+    for abs_lib_path in abs_lib_paths:
+        abs_doxy_path = os.path.join(abs_lib_path, "docs", "doxygen")
+        os.chdir(abs_lib_path)
+        print(abs_lib_path)
+        # If there is something printed by doxygen, then it represents a warning.
+        doxygen_warnings_flag = run_cmd("doxygen docs/doxygen/config.doxyfile") or doxygen_warnings_flag
+        abs_doxy_paths.append(abs_doxy_path)
+
+    # Generate the doxygen for the repository to use the tags from the libraries.
+    if os.path.exists(os.path.join(abs_repo_root,"docs","doxygen")):
+        os.chdir(abs_repo_root)
+        print(abs_repo_root)
+        doxygen_warnings_flag = run_cmd("doxygen docs/doxygen/config.doxyfile") or doxygen_warnings_flag
+        abs_doxy_paths.append(os.path.join(abs_repo_root, "docs", "doxygen"))
+
+    # Zip up if desired.
+    if not(doxygen_warnings_flag) and doZip:
+        os.chdir(abs_repo_root)
+        print(f"Zipping up to {abs_repo_root}{os.path.sep}doxygen.zip...")
+        doxy_zip = zipfile.ZipFile("doxygen.zip", mode="w")
+        try:
+            for abs_doxy_path in abs_doxy_paths:
+                abs_output_dir = os.path.join(abs_doxy_path, "output")
+                for out_root, _, out_files in os.walk(abs_output_dir):
+                    rel_out_root = os.path.relpath(out_root, abs_repo_root)
+                    for out_file in out_files:
+                        doxy_zip.write(os.path.join(rel_out_root, out_file))
+        finally:
+            doxy_zip.close()
+
+    # Return failure exit code if doxygen generation resulted in warnings.
+    if doxygen_warnings_flag == False:
+        sys.exit(0)
+    else:
+        sys.exit(1)
+
+if __name__ == "__main__":
+    main()