diff --git a/docs/conf.py b/docs/conf.py
index 792ee6eeecbc..1cccab41076c 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -140,7 +140,8 @@
     "torch": ("https://docs.pytorch.org/docs/2.11/", None),
     "isaacsim": ("https://docs.isaacsim.omniverse.nvidia.com/6.0.0/py/", None),
     "gymnasium": ("https://gymnasium.farama.org/", None),
-    "warp": ("https://nvidia.github.io/warp/", None),
+    # NOTE: pinned to /latest/ because /objects.inv at the root currently 404s
+    "warp": ("https://nvidia.github.io/warp/latest/", None),
     "omniverse": ("https://docs.omniverse.nvidia.com/dev-guide/latest", None),
 }
 
diff --git a/source/isaaclab/changelog.d/jichuanh-fix-warp-intersphinx.rst b/source/isaaclab/changelog.d/jichuanh-fix-warp-intersphinx.rst
new file mode 100644
index 000000000000..ac68de751aa4
--- /dev/null
+++ b/source/isaaclab/changelog.d/jichuanh-fix-warp-intersphinx.rst
@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed Sphinx docs build failing due to ``https://nvidia.github.io/warp/objects.inv`` returning 404.
+  Pinned the ``warp`` intersphinx mapping to ``/latest/``, which is where the inventory now lives.