diff --git a/Makefile b/Makefile
index 3639bbdee4..2d33363206 100644
--- a/Makefile
+++ b/Makefile
@@ -598,3 +598,10 @@ failsafe_web:
 run_failsafe_web_server: failsafe_web
 	@cd build/px4_sitl_default_failsafe_web && \
 		python3 -m http.server
+
+# Generate reference documentation for uORB messages
+.PHONY: msg_docs
+msg_docs:
+	$(call colorecho,'Generating uORB message reference docs')
+	@mkdir -p build/msg_docs
+	@./Tools/msg/generate_msg_docs.py -d build/msg_docs
diff --git a/Tools/ci/metadata_msg_docs.sh b/Tools/ci/metadata_msg_docs.sh
new file mode 100755
index 0000000000..bc1c7e42ad
--- /dev/null
+++ b/Tools/ci/metadata_msg_docs.sh
@@ -0,0 +1,84 @@
+#!/usr/bin/env bash
+#
+# metadata_msg_docs.sh — generate and sync uORB message reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_msg_docs.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying files
+#   --debug       Show full make output and debug info for file comparisons
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="msg_docs"
+src_dir="build/msg_docs"
+dest_dir="docs/en/msg_docs"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# Verify build output
+src_files=("$src_dir"/*)
+if [ ${#src_files[@]} -eq 0 ]; then
+  echo "❌ No files found in $src_dir. Build target '$make_target' failed or path is wrong."
+  exit 1
+fi
+
+echo "🔍 Checking uORB message docs in $dest_dir"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+  name=$(basename "$src")
+  dst="$dest_dir/$name"
+
+  if [[ ! -f "$dst" ]]; then
+    [ "$debug" = true ] && echo "DEBUG: missing $dst"
+    changed+=("$name")
+  elif ! cmp -s "$src" "$dst"; then
+    [ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
+    changed+=("$name")
+  fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+  echo "✅ All uORB message docs are up to date."
+  exit 0
+fi
+
+echo "⚠️ Detected updates in the following docs:"
+for f in "${changed[@]}"; do echo "  - $f"; done
+
+if [ "$test_only" = true ]; then
+  echo "🚨 uORB message docs need updating! Rerun without --test-only to apply changes."
+  exit 1
+fi
+
+echo "📂 Copying updated doc files to $dest_dir"
+for f in "${changed[@]}"; do cp -v "$src_dir/$f" "$dest_dir/$f"; done
+
+echo "🚨 uORB message docs updated; please commit changes:"
+echo "    git status -s $dest_dir"
+echo "    git add $dest_dir/*"
+echo "    git commit -m 'docs: update uORB message reference docs'"
+exit 1