diff --git a/doc/usage/extensions/apidoc.rst b/doc/usage/extensions/apidoc.rst
new file mode 100644
index 00000000000..e4328cc0288
--- /dev/null
+++ b/doc/usage/extensions/apidoc.rst
@@ -0,0 +1,126 @@
+.. _ext-apidoc:
+
+:mod:`sphinx.ext.apidoc` -- Generate API documentation from Python packages
+===========================================================================
+
+.. py:module:: sphinx.ext.apidoc
+   :synopsis: Generate API documentation from Python modules
+
+.. index:: pair: automatic; documentation
+.. index:: pair: generation; documentation
+.. index:: pair: generate; documentation
+
+.. versionadded:: 8.2
+
+.. role:: code-py(code)
+   :language: Python
+
+:mod:`sphinx.ext.apidoc` is a tool for automatic generation
+of Sphinx sources from Python packages.
+It provides the :program:`sphinx-apidoc` command-line tool as an extension,
+allowing it to be run during the Sphinx build process.
+
+The extension writes generated source files to a provided directory,
+which are then read by Sphinx using the :mod:`sphinx.ext.autodoc` extension.
+
+.. warning::
+
+   :mod:`sphinx.ext.apidoc` generates source files that
+   use :mod:`sphinx.ext.autodoc` to document all found modules.
+   If any modules have side effects on import,
+   these will be executed by ``autodoc`` when :program:`sphinx-build` is run.
+
+   If you document scripts (as opposed to library modules),
+   make sure their main routine is protected by
+   an ``if __name__ == '__main__'`` condition.
+
+
+Configuration
+-------------
+
+The apidoc extension uses the following configuration values:
+
+.. confval:: apidoc_modules
+   :no-index:
+   :type: :code-py:`Sequence[dict[str, Any]]`
+   :default: :code-py:`()`
+
+   A list or sequence of dictionaries describing modules to document.
+
+   For example:
+
+   .. code-block:: python
+
+      apidoc_modules = [
+          {'destination': 'source/', 'path': 'path/to/module'},
+          {
+              'destination': 'source/',
+              'path': 'path/to/another_module',
+              'exclude_patterns': ['**/test*'],
+              'maxdepth': 4,
+              'followlinks': False,
+              'separatemodules': False,
+              'includeprivate': False,
+              'noheadings': False,
+              'modulefirst': False,
+              'implicit_namespaces': False,
+              'automodule_options': {
+                  'members', 'show-inheritance', 'undoc-members'
+              },
+          },
+      ]
+
+
+   Valid keys are:
+
+   ``destination``
+     The output directory for generated files (**required**).
+     This must be relative to the source directory,
+     and will be created if it does not exist.
+
+   ``path``
+     The path to the module to document (**required**).
+     This must be absolute or relative to the configuration directory.
+
+   ``exclude_patterns``
+     A sequence of patterns to exclude from generation.
+     These may be literal paths or :py:mod:`fnmatch`-style patterns.
+     Defaults to :code-py:`()`.
+
+   ``maxdepth``
+     The maximum depth of submodules to show in the generated table of contents.
+     Defaults to :code-py:`4`.
+
+   ``followlinks``
+     Follow symbolic links.
+     Defaults to :code-py:`False`.
+
+   ``separatemodules``
+     Put documentation for each module on an individual page.
+     Defaults to :code-py:`False`.
+
+   ``includeprivate``
+     Generate documentation for '_private' modules with leading underscores.
+     Defaults to :code-py:`False`.
+
+   ``noheadings``
+     Do not create headings for the modules/packages.
+     Useful when source docstrings already contain headings.
+     Defaults to :code-py:`False`.
+
+   ``modulefirst``
+     Place module documentation before submodule documentation.
+     Defaults to :code-py:`False`.
+
+   ``implicit_namespaces``
+     By default sphinx-apidoc processes sys.path searching for modules only.
+     Python 3.3 introduced :pep:`420` implicit namespaces that allow module path
+     structures such as ``foo/bar/module.py`` or ``foo/bar/baz/__init__.py``
+     (notice that ``bar`` and ``foo`` are namespaces, not modules).
+
+     Interpret module paths using :pep:`420` implicit namespaces.
+     Defaults to :code-py:`False`.
+
+   ``automodule_options``
+     Options to pass to generated :rst:dir:`automodule` directives.
+     Defaults to :code-py:`{'members', 'show-inheritance', 'undoc-members'}`.
diff --git a/sphinx/ext/apidoc/__init__.py b/sphinx/ext/apidoc/__init__.py
index d8ef2173530..18097ff9d4c 100644
--- a/sphinx/ext/apidoc/__init__.py
+++ b/sphinx/ext/apidoc/__init__.py
@@ -28,6 +28,7 @@
 def setup(app: Sphinx) -> ExtensionMetadata:
     from sphinx.ext.apidoc._extension import run_apidoc
 
+    # Require autodoc
     app.setup_extension('sphinx.ext.autodoc')
     app.add_config_value('apidoc_modules', (), 'env', types=frozenset((list, tuple)))
     app.connect('builder-inited', run_apidoc)
diff --git a/sphinx/ext/apidoc/_extension.py b/sphinx/ext/apidoc/_extension.py
index 0cef1fcf87a..ba44749adc2 100644
--- a/sphinx/ext/apidoc/_extension.py
+++ b/sphinx/ext/apidoc/_extension.py
@@ -185,8 +185,8 @@ def _parse_module_options(
         )
 
     return ApidocOptions(
-        module_path=module_path,
         destdir=dest_path,
+        module_path=module_path,
         exclude_pattern=exclude_patterns,
         automodule_options=automodule_options,
         maxdepth=maxdepth,
@@ -204,9 +204,9 @@ def _check_list_of_strings(
     """
     if key not in options:
         return []
-    if not isinstance(options[key], list):
+    if not isinstance(options[key], list | tuple | set | frozenset):
         LOGGER.warning(
-            __("apidoc_modules item %i '%s' must be a list"),
+            __("apidoc_modules item %i '%s' must be a sequence"),
             index,
             key,
             type='apidoc',
diff --git a/sphinx/ext/apidoc/_shared.py b/sphinx/ext/apidoc/_shared.py
index 858e4da7dce..e707cce749c 100644
--- a/sphinx/ext/apidoc/_shared.py
+++ b/sphinx/ext/apidoc/_shared.py
@@ -37,8 +37,8 @@ class ApidocOptions:
 
     destdir: Path
     module_path: Path
-    exclude_pattern: list[str]
 
+    exclude_pattern: Sequence[str] = ()
     maxdepth: int = 4
     followlinks: bool = False
     separatemodules: bool = False