diff --git a/cpp/open3d/io/TriangleMeshIO.h b/cpp/open3d/io/TriangleMeshIO.h
index 08eaa2ea419..e380df298b6 100644
--- a/cpp/open3d/io/TriangleMeshIO.h
+++ b/cpp/open3d/io/TriangleMeshIO.h
@@ -39,7 +39,23 @@ std::shared_ptr<geometry::TriangleMesh> CreateMeshFromFile(
         const std::string &filename, bool print_progress = false);
 
 struct ReadTriangleMeshOptions {
-    /// Enables post-processing on the mesh
+    /// Enables post-processing on the mesh.
+    /// Post-processing will
+    ///   - triangulate meshes with polygonal faces
+    ///   - remove redundant materials
+    ///   - pretransform vertices
+    ///   - generate face normals if needed
+    ///
+    /// For more information see ASSIMPs documentation on the flags
+    /// `aiProcessPreset_TargetRealtime_Fast,
+    /// aiProcess_RemoveRedundantMaterials, aiProcess_OptimizeMeshes,
+    /// aiProcess_PreTransformVertices`.
+    ///
+    /// Note that identical vertices will always be joined regardless of whether
+    /// post-processing is enabled or not, which changes the number of vertices
+    /// in the mesh.
+    ///
+    /// The ply-format is not affected by the post-processing.
     bool enable_post_processing = false;
     /// Print progress to stdout about loading progress.
     /// Also see \p update_progress if you want to have your own progress
diff --git a/cpp/open3d/t/io/TriangleMeshIO.h b/cpp/open3d/t/io/TriangleMeshIO.h
index 04817646557..c5d21c7190b 100644
--- a/cpp/open3d/t/io/TriangleMeshIO.h
+++ b/cpp/open3d/t/io/TriangleMeshIO.h
@@ -40,9 +40,14 @@ namespace io {
 std::shared_ptr<geometry::TriangleMesh> CreateMeshFromFile(
         const std::string &filename, bool print_progress = false);
 
-/// The general entrance for reading a TriangleMesh from a file
+/// The general entrance for reading a TriangleMesh from a file.
 /// The function calls read functions based on the extension name of filename.
-/// \return return true if the read function is successful, false otherwise.
+/// Supported formats are \c obj,ply,stl,off,gltf,glb,fbx .
+/// \param filename Path to the mesh file.
+/// \param mesh Output parameter for the mesh.
+/// \param params Additional read options to enable post-processing or progress
+/// reporting. \return return true if the read function is successful, false
+/// otherwise.
 bool ReadTriangleMesh(const std::string &filename,
                       geometry::TriangleMesh &mesh,
                       open3d::io::ReadTriangleMeshOptions params = {});
diff --git a/cpp/pybind/t/io/class_io.cpp b/cpp/pybind/t/io/class_io.cpp
index 6e2d0d91757..951ae6f1ba6 100644
--- a/cpp/pybind/t/io/class_io.cpp
+++ b/cpp/pybind/t/io/class_io.cpp
@@ -161,9 +161,39 @@ void pybind_class_io(py::module &m_io) {
                 return mesh;
             },
             "Function to read TriangleMesh from file", "filename"_a,
-            "enable_post_processing"_a = false, "print_progress"_a = false);
-    docstring::FunctionDocInject(m_io, "read_triangle_mesh",
-                                 map_shared_argument_docstrings);
+            "enable_post_processing"_a = false, "print_progress"_a = false,
+            R"doc(The general entrance for reading a TriangleMesh from a file.
+The function calls read functions based on the extension name of filename.
+Supported formats are `obj, ply, stl, off, gltf, glb, fbx`.
+
+The following example reads a triangle mesh with the .ply extension::
+    import open3d as o3d
+    mesh = o3d.t.io.read_triangle_mesh('mesh.ply')
+
+Args:
+    filename (str): Path to the mesh file.
+    enable_post_processing (bool): If True enables post-processing. 
+        Post-processing will 
+          - triangulate meshes with polygonal faces
+          - remove redundant materials
+          - pretransform vertices
+          - generate face normals if needed
+        
+        For more information see ASSIMPs documentation on the flags
+        `aiProcessPreset_TargetRealtime_Fast, aiProcess_RemoveRedundantMaterials, 
+        aiProcess_OptimizeMeshes, aiProcess_PreTransformVertices`.
+        
+        Note that identical vertices will always be joined regardless of whether
+        post-processing is enabled or not, which changes the number of vertices 
+        in the mesh.
+
+        The `ply`-format is not affected by the post-processing.
+
+    print_progress (bool): If True print the reading progress to the terminal.
+    
+Returns:
+    Returns the mesh object. On failure an empty mesh is returned.
+)doc");
 
     m_io.def(
             "write_triangle_mesh",