diff --git a/.azure-pipelines/pipelines.yml b/.azure-pipelines/pipelines.yml
index bac100bfca96..82c5e83cc0eb 100644
--- a/.azure-pipelines/pipelines.yml
+++ b/.azure-pipelines/pipelines.yml
@@ -102,6 +102,7 @@ stages:
               BAZEL_REMOTE_INSTANCE: projects/envoy-ci/instances/default_instance
               GCP_SERVICE_ACCOUNT_KEY: $(GcpServiceAccountKey)
             displayName: "Generate docs"
+            continueOnError: true
 
           - script: |
               ci/run_envoy_docker.sh 'ci/upload_gcs_artifact.sh /source/generated/docs docs'
diff --git a/api/envoy/extensions/filters/network/http_connection_manager/v3/http_connection_manager.proto b/api/envoy/extensions/filters/network/http_connection_manager/v3/http_connection_manager.proto
index 87d826262b94..231fc61978db 100644
--- a/api/envoy/extensions/filters/network/http_connection_manager/v3/http_connection_manager.proto
+++ b/api/envoy/extensions/filters/network/http_connection_manager/v3/http_connection_manager.proto
@@ -30,6 +30,8 @@ option java_outer_classname = "HttpConnectionManagerProto";
 option java_multiple_files = true;
 option (udpa.annotations.file_status).package_version_status = ACTIVE;
 
+// [#protodoc-redirect: config/filter/network/http_connection_manager/v2/http_connection_manager.proto]
+
 // [#protodoc-title: HTTP connection manager]
 // HTTP connection manager :ref:`configuration overview <config_http_conn_man>`.
 // [#extension: envoy.filters.network.http_connection_manager]
diff --git a/docs/build.sh b/docs/build.sh
index fc3e89d117bd..4d8cbc760032 100755
--- a/docs/build.sh
+++ b/docs/build.sh
@@ -160,6 +160,10 @@ rsync -av \
       "${SCRIPT_DIR}"/_ext \
       "${GENERATED_RST_DIR}"
 
+# Merge generated redirects
+cat /tmp/redirects.txt >> "${GENERATED_RST_DIR}"/redirects.txt
+cat "${GENERATED_RST_DIR}"/redirects.txt
+
 # To speed up validate_fragment invocations in validating_code_block
 bazel build "${BAZEL_BUILD_OPTIONS[@]}" //tools/config_validation:validate_fragment
 
diff --git a/tools/api_proto_plugin/annotations.py b/tools/api_proto_plugin/annotations.py
index e878cf8bd50b..2ea5bd2fe9ea 100644
--- a/tools/api_proto_plugin/annotations.py
+++ b/tools/api_proto_plugin/annotations.py
@@ -30,6 +30,8 @@
 # Comment. Just used for adding text that will not go into the docs at all.
 COMMENT_ANNOTATION = 'comment'
 
+REDIRECT_ANNOTATION = "protodoc-redirect"
+
 VALID_ANNOTATIONS = set([
     DOC_TITLE_ANNOTATION,
     EXTENSION_ANNOTATION,
@@ -38,6 +40,7 @@
     NEXT_FREE_FIELD_ANNOTATION,
     NEXT_MAJOR_VERSION_ANNOTATION,
     COMMENT_ANNOTATION,
+    REDIRECT_ANNOTATION,
 ])
 
 # These can propagate from file scope to message/enum scope (and be overridden).
diff --git a/tools/protodoc/protodoc.py b/tools/protodoc/protodoc.py
index e3fbb4a94068..8c1e208ca379 100755
--- a/tools/protodoc/protodoc.py
+++ b/tools/protodoc/protodoc.py
@@ -31,11 +31,15 @@
 from tools.protodoc import manifest_pb2
 from udpa.annotations import security_pb2
 from udpa.annotations import status_pb2
+from udpa.annotations import versioning_pb2
 from validate import validate_pb2
 
 # Namespace prefix for Envoy core APIs.
 ENVOY_API_NAMESPACE_PREFIX = '.envoy.api.v2.'
 
+# Last documented v2 api version
+ENVOY_LAST_V2_VERSION = "1.17.2"
+
 # Namespace prefix for Envoy top-level APIs.
 ENVOY_PREFIX = '.envoy.'
 
@@ -57,7 +61,7 @@
     """
 .. _extension_{{extension}}:
 
-This extension may be referenced by the qualified name *{{extension}}*
+This extension may be referenced by the qualified name ``{{extension}}``
 
 .. note::
   {{status}}
@@ -125,6 +129,9 @@
         EXTENSION_CATEGORIES.setdefault(_cat, []).append(_k)
 
 
+REDIRECTS_FILE = "/tmp/redirects.txt"
+
+
 class ProtodocError(Exception):
     """Base error class for the protodoc module."""
 
@@ -681,7 +688,14 @@ def visit_message(self, msg_proto, type_context, nested_msgs, nested_enums):
         formatted_leading_comment = format_comment_with_annotations(leading_comment, 'message')
         if hide_not_implemented(leading_comment):
             return ''
-        return anchor + header + proto_link + formatted_leading_comment + format_message_as_json(
+
+        previous_version = ""
+        if msg_proto.options.HasExtension(versioning_pb2.versioning):
+            _previous_version = msg_proto.options.Extensions[versioning_pb2.versioning].previous_message_type
+            _previous_version_url = f"v{ENVOY_LAST_V2_VERSION}:envoy_api_msg_{_previous_version.split('.')[1:]}"
+            previous_version = f".. tip::\n    PREVIOUS VERSION: :ref:`{_previous_version} <{_previous_version_url}>`\n\n"
+
+        return anchor + header + proto_link + formatted_leading_comment + previous_version + format_message_as_json(
             type_context, msg_proto) + format_message_as_definition_list(
                 type_context, msg_proto,
                 self.protodoc_manifest) + '\n'.join(nested_msgs) + '\n' + '\n'.join(nested_enums)
@@ -691,6 +705,10 @@ def visit_file(self, file_proto, type_context, services, msgs, enums):
         if all(len(msg) == 0 for msg in msgs) and all(len(enum) == 0 for enum in enums):
             has_messages = False
 
+        if annotations.REDIRECT_ANNOTATION in type_context.source_code_info.file_level_annotations:
+            with open(REDIRECTS_FILE, "a") as f:
+                f.write(f"api-v2/{type_context.source_code_info.file_level_annotations[annotations.REDIRECT_ANNOTATION]}.rst\tapi-v3/{'/'.join(file_proto.name.split('/')[1:])}.rst\n")
+
         # TODO(mattklein123): The logic in both the doc and transform tool around files without messages
         # is confusing and should be cleaned up. This is a stop gap to have titles for all proto docs
         # in the common case.