diff --git a/doc/source/conf.py b/doc/source/conf.py
index 7c3d88cc..b2bb5883 100644
--- a/doc/source/conf.py
+++ b/doc/source/conf.py
@@ -27,6 +27,7 @@ extensions = [
     'oslo_config.sphinxconfiggen',
     'oslo_policy.sphinxext',
     'oslo_policy.sphinxpolicygen',
+    'sphinxcontrib.rsvgconverter',
 ]
 
 # openstackdocstheme options
@@ -72,16 +73,32 @@ html_last_updated_fmt = '%Y-%m-%d %H:%M'
 # Output file base name for HTML help builder.
 htmlhelp_basename = '%sdoc' % project
 
+# -- Options for LaTeX output -------------------------------------------------
+
 # Grouping the document tree into LaTeX files. List of tuples
 # (source start file, target name, title, author, documentclass
-# [howto/manual]).
+# [howto/manual], torctree_only).
 latex_documents = [
     ('index',
-     '%s.tex' % project,
+     'doc-%s.tex' % project,
      u'%s Documentation' % project,
-     u'OpenStack Foundation', 'manual'),
+     u'OpenStack Foundation', 'manual',
+     # Specify toctree_only=True for a better document structure of
+     # the generated PDF file.
+     True),
 ]
 
+# Disable usage of xindy https://bugzilla.redhat.com/show_bug.cgi?id=1643664
+latex_use_xindy = False
+
+latex_domain_indices = False
+
+latex_elements = {
+    'makeindex': '',
+    'printindex': '',
+    'preamble': r'\setcounter{tocdepth}{3}',
+}
+
 # Example configuration for intersphinx: refer to the Python standard library.
 #intersphinx_mapping = {'http://docs.python.org/': None}
 
diff --git a/doc/source/index.rst b/doc/source/index.rst
index bc93a2ea..2f40e526 100644
--- a/doc/source/index.rst
+++ b/doc/source/index.rst
@@ -26,6 +26,11 @@
 Welcome to neutron-dynamic-routing's documentation!
 ===================================================
 
+.. NOTE(amotoki): toctree_only=False is specified in latex_documents
+   in doc/source/conf.py to get a better structure of the PDF doc.
+   This means the content of this file (index.rst) is NOT rendered
+   in the generated PDF file.
+
 .. include:: ../../README.rst
 
 Contents
diff --git a/lower-constraints.txt b/lower-constraints.txt
index aa058ebc..00c3c82c 100644
--- a/lower-constraints.txt
+++ b/lower-constraints.txt
@@ -123,6 +123,7 @@ simplejson==3.5.1
 six==1.10.0
 snowballstemmer==1.2.1
 Sphinx==1.6.5
+sphinxcontrib-svg2pdfconverter==0.1.0 # BSD
 sphinxcontrib-websupport==1.0.1
 SQLAlchemy==1.2.0
 sqlalchemy-migrate==0.11.0
diff --git a/test-requirements.txt b/test-requirements.txt
index 18e59781..7fbd53c1 100644
--- a/test-requirements.txt
+++ b/test-requirements.txt
@@ -8,7 +8,9 @@ fixtures>=3.0.0 # Apache-2.0/BSD
 flake8-import-order==0.12 # LGPLv3
 mock>=2.0.0 # BSD
 python-subunit>=1.0.0 # Apache-2.0/BSD
-sphinx!=1.6.6,!=1.6.7,>=1.6.5 # BSD
+sphinx!=1.6.6,!=1.6.7,>=1.6.5,<2.0.0;python_version=='2.7'  # BSD
+sphinx!=1.6.6,!=1.6.7,!=2.1.0,>=1.6.5;python_version>='3.4' # BSD
+sphinxcontrib-svg2pdfconverter>=0.1.0 # BSD
 openstackdocstheme>=1.18.1 # Apache-2.0
 oslo.concurrency>=3.26.0 # Apache-2.0
 stestr>=1.0.0 # Apache-2.0
diff --git a/tox.ini b/tox.ini
index d73b9352..e68b2c3a 100644
--- a/tox.ini
+++ b/tox.ini
@@ -89,6 +89,16 @@ commands = {posargs}
 basepython = python3
 commands = python setup.py build_sphinx
 
+[testenv:pdf-docs]
+basepython = python3
+envdir = {toxworkdir}/docs
+# deps = {[testenv:docs]deps}
+whitelist_externals =
+  make
+commands =
+  sphinx-build -W -b latex doc/source doc/build/pdf
+  make -C doc/build/pdf
+
 [flake8]
 # E125 continuation line does not distinguish itself from next logical line
 # E126 continuation line over-indented for hanging indent