diff --git a/d2cli/main.go b/d2cli/main.go
index 89abb9a00..9b781e0d2 100644
--- a/d2cli/main.go
+++ b/d2cli/main.go
@@ -33,6 +33,7 @@ import (
 	"oss.terrastruct.com/d2/lib/background"
 	"oss.terrastruct.com/d2/lib/imgbundler"
 	ctxlog "oss.terrastruct.com/d2/lib/log"
+	"oss.terrastruct.com/d2/lib/pdf"
 	pdflib "oss.terrastruct.com/d2/lib/pdf"
 	"oss.terrastruct.com/d2/lib/png"
 	"oss.terrastruct.com/d2/lib/pptx"
@@ -353,7 +354,7 @@ func compile(ctx context.Context, ms *xmain.State, plugin d2plugin.Plugin, rende
 	switch filepath.Ext(outputPath) {
 	case ".pdf":
 		pageMap := buildBoardIDToIndex(diagram, nil, nil)
-		pdf, err := renderPDF(ctx, ms, plugin, renderOpts, outputPath, page, ruler, diagram, nil, nil, pageMap)
+		pdf, err := renderPDF(ctx, ms, plugin, renderOpts, outputPath, page, ruler, diagram, nil, nil, "", pageMap)
 		if err != nil {
 			return pdf, false, err
 		}
@@ -684,19 +685,26 @@ func _render(ctx context.Context, ms *xmain.State, plugin d2plugin.Plugin, opts
 	return svg, nil
 }
 
-func renderPDF(ctx context.Context, ms *xmain.State, plugin d2plugin.Plugin, opts d2svg.RenderOpts, outputPath string, page playwright.Page, ruler *textmeasure.Ruler, diagram *d2target.Diagram, pdf *pdflib.GoFPDF, boardPath []string, pageMap map[string]int) (svg []byte, err error) {
+func renderPDF(ctx context.Context, ms *xmain.State, plugin d2plugin.Plugin, opts d2svg.RenderOpts, outputPath string, page playwright.Page, ruler *textmeasure.Ruler, diagram *d2target.Diagram, pdf *pdflib.GoFPDF, boardPath []pdf.BoardTitle, boardType string, pageMap map[string]int) (svg []byte, err error) {
 	var isRoot bool
 	if pdf == nil {
 		pdf = pdflib.Init()
 		isRoot = true
 	}
 
-	var currBoardPath []string
+	var currBoardPath []pdflib.BoardTitle
 	// Root board doesn't have a name, so we use the output filename
 	if diagram.Name == "" {
-		currBoardPath = append(boardPath, "root")
+		currBoardPath = append(boardPath, pdflib.BoardTitle{
+			Name:    "root",
+			BoardID: "root",
+		})
 	} else {
-		currBoardPath = append(boardPath, diagram.Name)
+		prev := boardPath[len(boardPath)-1]
+		currBoardPath = append(boardPath, pdflib.BoardTitle{
+			Name:    diagram.Name,
+			BoardID: strings.Join([]string{prev.BoardID, boardType, diagram.Name}, "."),
+		})
 	}
 
 	if !diagram.IsFolderOnly {
@@ -749,19 +757,19 @@ func renderPDF(ctx context.Context, ms *xmain.State, plugin d2plugin.Plugin, opt
 	}
 
 	for _, dl := range diagram.Layers {
-		_, err := renderPDF(ctx, ms, plugin, opts, "", page, ruler, dl, pdf, currBoardPath, pageMap)
+		_, err := renderPDF(ctx, ms, plugin, opts, "", page, ruler, dl, pdf, currBoardPath, "layers", pageMap)
 		if err != nil {
 			return nil, err
 		}
 	}
 	for _, dl := range diagram.Scenarios {
-		_, err := renderPDF(ctx, ms, plugin, opts, "", page, ruler, dl, pdf, currBoardPath, pageMap)
+		_, err := renderPDF(ctx, ms, plugin, opts, "", page, ruler, dl, pdf, currBoardPath, "scenarios", pageMap)
 		if err != nil {
 			return nil, err
 		}
 	}
 	for _, dl := range diagram.Steps {
-		_, err := renderPDF(ctx, ms, plugin, opts, "", page, ruler, dl, pdf, currBoardPath, pageMap)
+		_, err := renderPDF(ctx, ms, plugin, opts, "", page, ruler, dl, pdf, currBoardPath, "steps", pageMap)
 		if err != nil {
 			return nil, err
 		}
diff --git a/lib/pdf/pdf.go b/lib/pdf/pdf.go
index 0d90ff09b..91e7ca9aa 100644
--- a/lib/pdf/pdf.go
+++ b/lib/pdf/pdf.go
@@ -15,10 +15,17 @@ import (
 	"oss.terrastruct.com/d2/lib/color"
 )
 
+const TITLE_SEP = "  /  "
+
 type GoFPDF struct {
 	pdf *gofpdf.Fpdf
 }
 
+type BoardTitle struct {
+	Name    string
+	BoardID string
+}
+
 func Init() *GoFPDF {
 	newGofPDF := gofpdf.NewCustom(&gofpdf.InitType{
 		UnitStr: "pt",
@@ -59,9 +66,13 @@ func (g *GoFPDF) GetFillRGB(themeID int64, fill string) (color.RGB, error) {
 	return color.Hex2RGB(fill)
 }
 
-func (g *GoFPDF) AddPDFPage(png []byte, boardPath []string, themeID int64, fill string, shapes []d2target.Shape, pad int64, viewboxX, viewboxY float64, pageMap map[string]int) error {
+func (g *GoFPDF) AddPDFPage(png []byte, titlePath []BoardTitle, themeID int64, fill string, shapes []d2target.Shape, pad int64, viewboxX, viewboxY float64, pageMap map[string]int) error {
 	var opt gofpdf.ImageOptions
 	opt.ImageType = "png"
+	boardPath := make([]string, len(titlePath))
+	for i, t := range titlePath {
+		boardPath[i] = t.Name
+	}
 	imageInfo := g.pdf.RegisterImageOptionsReader(strings.Join(boardPath, "/"), opt, bytes.NewReader(png))
 	if g.pdf.Err() {
 		return g.pdf.Error()
@@ -102,20 +113,30 @@ func (g *GoFPDF) AddPDFPage(png []byte, boardPath []string, themeID int64, fill
 	g.pdf.SetFont("source", "", 14)
 
 	// Draw board path prefix
-	var prefixWidth float64
-	prefixPath := boardPath[:len(boardPath)-1]
-	if len(prefixPath) > 0 {
-		prefix := strings.Join(boardPath[:len(boardPath)-1], "  /  ") + "  /  "
-		prefixWidth = g.pdf.GetStringWidth(prefix)
+	prefixWidth := headerMargin
+	if len(titlePath) > 1 {
+		for _, t := range titlePath[:len(titlePath)-1] {
+			g.pdf.SetXY(prefixWidth, 0)
+			w := g.pdf.GetStringWidth(t.Name)
+			var linkID int
+			if pageNum, ok := pageMap[t.BoardID]; ok {
+				linkID = g.pdf.AddLink()
+				g.pdf.SetLink(linkID, 0, pageNum+1)
+			}
+			g.pdf.CellFormat(w, headerHeight, t.Name, "", 0, "", false, linkID, "")
+			prefixWidth += w
 
-		g.pdf.SetXY(headerMargin, 0)
-		g.pdf.CellFormat(prefixWidth, headerHeight, prefix, "", 0, "", false, 0, "")
+			g.pdf.SetXY(prefixWidth, 0)
+			w = g.pdf.GetStringWidth(TITLE_SEP)
+			g.pdf.CellFormat(prefixWidth, headerHeight, TITLE_SEP, "", 0, "", false, 0, "")
+			prefixWidth += w
+		}
 	}
 
 	// Draw board name
 	boardName := boardPath[len(boardPath)-1]
 	g.pdf.SetFont("source", "B", 14)
-	g.pdf.SetXY(prefixWidth+headerMargin, 0)
+	g.pdf.SetXY(prefixWidth, 0)
 	g.pdf.CellFormat(pageWidth-prefixWidth-headerMargin, headerHeight, boardName, "", 0, "", false, 0, "")
 
 	// Draw image