diff --git a/pkgs/by-name/gz/gz-utils/package.nix b/pkgs/by-name/gz/gz-utils/package.nix
index 1a4bf09d40a1..c41ec4ef71d7 100644
--- a/pkgs/by-name/gz/gz-utils/package.nix
+++ b/pkgs/by-name/gz/gz-utils/package.nix
@@ -2,11 +2,23 @@
   lib,
   stdenv,
   fetchFromGitHub,
+
+  # nativeBuildInputs
   cmake,
   gz-cmake,
-  spdlog,
-}:
+  doxygen,
+  graphviz,
 
+  # buildInputs
+  cli11,
+  spdlog,
+
+  # nativeCheckInputs
+  python3,
+
+  # checkInputs
+  gtest,
+}:
 stdenv.mkDerivation (finalAttrs: {
   pname = "gz-utils";
   version = "3.1.1";
@@ -18,12 +30,49 @@ stdenv.mkDerivation (finalAttrs: {
     hash = "sha256-fYzysdB608jfMb/EbqiGD4hXmPxcaVTUrt9Wx0dBlto=";
   };
 
+  outputs = [
+    "doc"
+    "out"
+  ];
+
+  # Remove vendored gtest, use nixpkgs' version instead.
+  postPatch = ''
+    rm -r test/gtest_vendor
+
+    substituteInPlace test/CMakeLists.txt --replace-fail \
+      "add_subdirectory(gtest_vendor)" "# add_subdirectory(gtest_vendor)"
+  '';
+
   nativeBuildInputs = [
     cmake
     gz-cmake
+    doxygen
+    graphviz
+  ];
+
+  buildInputs = [
+    cli11
     spdlog
   ];
 
+  # Indicate to CMake that we are not using the vendored CLI11 library.
+  # The integration tests make (unintentional?) unconditional usage of the vendored
+  # CLI11 library, so we can't remove that.
+  cmakeFlags = [
+    (lib.cmakeBool "GZ_UTILS_VENDOR_CLI11" false)
+  ];
+
+  postBuild = ''
+    make doc
+    cp -r doxygen/html $doc
+  '';
+
+  nativeCheckInputs = [ python3 ];
+
+  checkInputs = [ gtest ];
+
+  doCheck = true;
+
   meta = {
     description = "General purpose utility classes and functions for the Gazebo libraries";
     homepage = "https://gazebosim.org/home";