diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index 516e72df47b5..2a68079ab37c 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -127,7 +127,7 @@ jobs:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        python_version: ['3.7', '3.8', '3.9', '3.10']
+        python_version: ['3.7', '3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
@@ -234,7 +234,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.7', '3.8', '3.9', '3.10']
+        python_version: ['3.7', '3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
index 0c42b06e67b6..ef5e9246ba65 100644
--- a/.github/workflows/ubuntu-wheel.yml
+++ b/.github/workflows/ubuntu-wheel.yml
@@ -27,7 +27,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.7', '3.8', '3.9', '3.10']
+        python_version: ['3.7', '3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
@@ -61,6 +61,8 @@ jobs:
             docker/docker_build.sh cuda_wheel_py39_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.10" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
             docker/docker_build.sh cuda_wheel_py310_dev
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.11" ] && [ "${{ env.DEVELOPER_BUILD }}" = "ON"  ]; then
+            docker/docker_build.sh cuda_wheel_py311_dev
           elif [ "${{ env.PYTHON_VERSION }}" = "3.7" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py37
           elif [ "${{ env.PYTHON_VERSION }}" = "3.8" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
@@ -69,6 +71,8 @@ jobs:
             docker/docker_build.sh cuda_wheel_py39
           elif [ "${{ env.PYTHON_VERSION }}" = "3.10" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
             docker/docker_build.sh cuda_wheel_py310
+          elif [ "${{ env.PYTHON_VERSION }}" = "3.11" ] && [ "${{ env.DEVELOPER_BUILD }}" = "OFF" ]; then
+            docker/docker_build.sh cuda_wheel_py311
           fi
           PIP_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d-[0-9]*.whl)"
           PIP_CPU_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d_cpu*.whl)"
@@ -114,7 +118,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.7', '3.8', '3.9', '3.10']
+        python_version: ['3.7', '3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 3e13d7854c1d..2aceb15569a4 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -246,7 +246,7 @@ jobs:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        python_version: ['3.7', '3.8', '3.9', '3.10']
+        python_version: ['3.7', '3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
@@ -351,7 +351,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python_version: ['3.7', '3.8', '3.9', '3.10']
+        python_version: ['3.7', '3.8', '3.9', '3.10', '3.11']
         is_master:
           - ${{ github.ref == 'refs/heads/master' }}
         exclude:
diff --git a/3rdparty/pybind11/pybind11.cmake b/3rdparty/pybind11/pybind11.cmake
index 5ed710aa58b8..9a9c1b6df774 100644
--- a/3rdparty/pybind11/pybind11.cmake
+++ b/3rdparty/pybind11/pybind11.cmake
@@ -3,8 +3,8 @@ include(FetchContent)
 FetchContent_Declare(
     ext_pybind11
     PREFIX pybind11
-    URL https://github.com/pybind/pybind11/archive/refs/tags/v2.6.2.tar.gz
-    URL_HASH SHA256=8ff2fff22df038f5cd02cea8af56622bc67f5b64534f1b83b9f133b8366acff2
+    URL https://github.com/pybind/pybind11/archive/refs/tags/v2.11.1.tar.gz
+    URL_HASH SHA256=d475978da0cdc2d43b73f30910786759d593a9d8ee05b1b6846d1eb16c6d2e0c
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/pybind11"
 )
 
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2164a63d1399..2b46dc419dfa 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,6 +15,7 @@
 * Fix raycasting scene: Allow setting of number of threads that are used for building a raycasting scene
 * Fix Python bindings for CUDA device synchronization, voxel grid saving (PR #5425)
 * Support msgpack versions without cmake
+* Python 3.11 support. bump pybind11 v2.6.2 -> v2.11.1
 
 ## 0.13