diff --git a/riotbuild/Dockerfile b/riotbuild/Dockerfile
index 85714402..bc42ef68 100644
--- a/riotbuild/Dockerfile
+++ b/riotbuild/Dockerfile
@@ -66,13 +66,6 @@ RUN \
         curl \
         cython3 \
         gcc-multilib \
-        gcc-arm-none-eabi \
-        libnewlib-arm-none-eabi \
-        libstdc++-arm-none-eabi-dev \
-        libstdc++-arm-none-eabi-newlib \
-        libstdc++-arm-none-eabi-picolibc \
-        gcc-riscv64-unknown-elf \
-        gcc-xtensa-lx106 \
         gdb \
         g++-multilib \
         libffi-dev \
@@ -80,6 +73,7 @@ RUN \
         libtool \
         libsdl2-dev:i386 \
         m4 \
+        ninja-build \
         parallel \
         protobuf-compiler \
         python2 \
@@ -135,6 +129,24 @@ RUN \
     && echo 'Cleaning up installation files' >&2 && \
     apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* /pkgs
 
+# Install ARM GNU embedded toolchain
+# For updates, see https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads
+ARG ARM_URLBASE=https://developer.arm.com/-/media/Files/downloads/gnu-rm
+ARG ARM_URL=${ARM_URLBASE}/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10-x86_64-linux.tar.bz2
+ARG ARM_MD5=2383e4eb4ea23f248d33adc70dc3227e
+ARG ARM_FOLDER=gcc-arm-none-eabi-10.3-2021.10
+RUN echo 'Installing arm-none-eabi toolchain from arm.com' >&2 && \
+    mkdir -p /opt && \
+    curl -L -o /opt/gcc-arm-none-eabi.tar.bz2 ${ARM_URL} && \
+    echo "${ARM_MD5} /opt/gcc-arm-none-eabi.tar.bz2" | md5sum -c && \
+    tar -C /opt -jxf /opt/gcc-arm-none-eabi.tar.bz2 && \
+    rm -f /opt/gcc-arm-none-eabi.tar.bz2 && \
+    echo 'Removing documentation' >&2 && \
+    rm -rf /opt/gcc-arm-none-eabi-*/share/doc
+    # No need to dedup, the ARM toolchain is already using hard links for the duplicated files
+
+ENV PATH ${PATH}:/opt/${ARM_FOLDER}/bin
+
 # Install MIPS binary toolchain
 # For updates: https://www.mips.com/develop/tools/codescape-mips-sdk/ (select "Codescape GNU Toolchain")
 ARG MIPS_VERSION=2020.06-01
@@ -168,18 +180,6 @@ RUN mkdir -p /opt && \
 
 ENV PATH $PATH:/opt/xpack-riscv-none-embed-gcc-${RISCV_VERSION}/bin
 
-# Install picolibc Debian package
-ARG PICOLIBC_VERSION=1.7.9-1
-RUN wget -P /tmp http://ftp.de.debian.org/debian/pool/main/p/picolibc/picolibc-riscv64-unknown-elf_${PICOLIBC_VERSION}_all.deb && \
-    dpkg -i /tmp/picolibc-riscv64-unknown-elf_${PICOLIBC_VERSION}_all.deb && \
-    rm /tmp/picolibc-riscv64-unknown-elf_${PICOLIBC_VERSION}_all.deb && \
-    wget -P /tmp http://ftp.de.debian.org/debian/pool/main/p/picolibc/picolibc-arm-none-eabi_${PICOLIBC_VERSION}_all.deb && \
-    dpkg -i /tmp/picolibc-arm-none-eabi_${PICOLIBC_VERSION}_all.deb && \
-    rm /tmp/picolibc-arm-none-eabi_${PICOLIBC_VERSION}_all.deb && \
-    wget -P /tmp http://ftp.de.debian.org/debian/pool/main/p/picolibc/picolibc-xtensa-lx106-elf_${PICOLIBC_VERSION}_all.deb && \
-    dpkg -i /tmp/picolibc-xtensa-lx106-elf_${PICOLIBC_VERSION}_all.deb && \
-    rm /tmp/picolibc-xtensa-lx106-elf_${PICOLIBC_VERSION}_all.deb
-
 # Install complete ESP8266 toolchain in /opt/esp (139 MB after cleanup)
 # remember https://github.com/RIOT-OS/RIOT/pull/10801 when updating
 RUN echo 'Installing ESP8266 toolchain' >&2 && \
@@ -253,6 +253,38 @@ RUN echo 'Installing ESP32-S3 toolchain' >&2 && \
     pip install --no-cache-dir pyserial
 ENV PATH $PATH:/opt/esp/xtensa-esp32s3-elf/bin
 
+ARG PICOLIBC_REPO=https://github.com/keith-packard/picolibc
+ARG PICOLIBC_TAG=1.4.6
+ARG PICOLIBC_URL=${PICOLIBC_REPO}/archive/${PICOLIBC_TAG}.tar.gz
+ARG PICOLIBC_ARCHIVE=${PICOLIBC_TAG}.tar.gz
+
+RUN echo 'Building and Installing PicoLIBC' >&2 && \
+    pip3 install --no-cache-dir meson && \
+    mkdir -p /usr/src/picolibc && \
+    cd /usr/src/picolibc/ &&\
+    curl -L -o ${PICOLIBC_ARCHIVE} ${PICOLIBC_URL} && \
+    tar -xf ${PICOLIBC_ARCHIVE} && \
+    cd picolibc-${PICOLIBC_TAG}
+
+COPY cross-riscv-none-embed.txt /usr/src/picolibc/picolibc-${PICOLIBC_TAG}/
+
+RUN cd /usr/src/picolibc/picolibc-${PICOLIBC_TAG} && \
+    which riscv-none-embed-gcc && \
+    ls -al /opt/xpack-riscv-none-embed-gcc-${RISCV_VERSION}/bin && \
+    mkdir build-arm build-riscv build-esp32 && \
+    cd build-riscv && \
+    meson .. -Dtests=true -Dmultilib=false -Dincludedir=picolibc/riscv-none-embed/include -Dlibdir=picolibc/riscv-none-embed/lib --cross-file ../cross-riscv-none-embed.txt && \
+    ninja && ninja install && \
+    cd ../build-esp32 && \
+    sh ../do-esp32-configure && \
+    ninja && ninja install && \
+    cd ../build-arm && \
+    sh ../do-arm-configure && \
+    ninja && ninja install
+
+# No need to keep the sources around
+RUN rm -rf /usr/src/picolibc
+
 # RIOT toolchains
 ARG RIOT_TOOLCHAIN_GCC_VERSION=10.1.0
 ARG RIOT_TOOLCHAIN_PACKAGE_VERSION=18
diff --git a/riotbuild/cross-riscv-none-embed.txt b/riotbuild/cross-riscv-none-embed.txt
new file mode 100644
index 00000000..5b9d49b3
--- /dev/null
+++ b/riotbuild/cross-riscv-none-embed.txt
@@ -0,0 +1,17 @@
+[binaries]
+c = 'riscv-none-embed-gcc'
+ar = 'riscv-none-embed-ar'
+as = 'riscv-none-embed-as'
+strip = 'riscv-none-embed-strip'
+exe_wrapper = ['sh', '-c', 'test -z "$MESON_SOURCE_ROOT" || "$MESON_SOURCE_ROOT"/run-riscv "$@"', 'run-riscv']
+
+[host_machine]
+system = 'none'
+cpu_family = 'riscv'
+cpu = 'riscv'
+endian = 'little'
+
+[properties]
+c_args = [ '-nostdlib', '-msave-restore', '-fno-common' ]
+needs_exe_wrapper = true
+skip_sanity_check = true