diff --git a/docker/Dockerfile.ci b/docker/Dockerfile.ci
index cd52a838882..00447fb7fa3 100644
--- a/docker/Dockerfile.ci
+++ b/docker/Dockerfile.ci
@@ -67,34 +67,44 @@ RUN if [ "${BUILD_SYCL_MODULE}" = "ON" ]; then \
         rm -rf /etc/apt/sources.list.d/oneAPI.list; \
     fi
 
-# Dependencies: basic
+# Dependencies: basic and python-build
 RUN apt-get update && apt-get install -y \
     git  \
     wget \
     curl \
     build-essential \
     pkg-config \
+    zlib1g \
+    zlib1g-dev \
+    libssl-dev \
+    libbz2-dev \
+    libreadline-dev \
+    libsqlite3-dev \
+    libncursesw5-dev \
+    xz-utils \
+    tk-dev \
+    libxml2-dev \
+    libxmlsec1-dev \
+    libffi-dev \
+    liblzma-dev \
  && rm -rf /var/lib/apt/lists/*
 
-# Miniconda or Intel conda
-# The **/open3d/bin paths are used during docker run, in this way docker run
+# pyenv or Intel Python
+# The pyenv python paths are used during docker run, in this way docker run
 # does not need to activate the environment again.
-ENV PATH="/root/miniconda3/bin:${PATH}"
-ENV PATH="/root/miniconda3/envs/open3d/bin:${PATH}"
+ENV PYENV_ROOT=/root/.pyenv
+ENV PATH="$PYENV_ROOT/shims:$PYENV_ROOT/bin:$PATH"
 ENV PATH="/opt/intel/oneapi/intelpython/latest/bin:${PATH}"
-ENV PATH="/opt/intel/oneapi/intelpython/latest/envs/open3d/bin:${PATH}"
 RUN if [ "${BUILD_SYCL_MODULE}" = "OFF" ]; then \
-        wget -q https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh; \
-        bash Miniconda3-latest-Linux-x86_64.sh -b; \
-        rm Miniconda3-latest-Linux-x86_64.sh; \
+        curl https://pyenv.run | bash \
+        && pyenv update \
+        && pyenv install $PYTHON_VERSION \
+        && pyenv global $PYTHON_VERSION \
+        && pyenv rehash; \
     fi
-RUN conda --version \
- && conda create -y -n open3d python=${PYTHON_VERSION}
+RUN python --version && pip --version
 
-# Activate open3d virtualenv
-# This works during docker build. It becomes the prefix of all RUN commands.
-# Ref: https://stackoverflow.com/a/60148365/1255535
-SHELL ["conda", "run", "-n", "open3d", "/bin/bash", "-o", "pipefail", "-c"]
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # Dependencies: cmake
 ENV PATH=${HOME}/${CMAKE_VERSION}/bin:${PATH}
diff --git a/docker/docker_test.sh b/docker/docker_test.sh
index 441b17ed4e3..d328d14535d 100755
--- a/docker/docker_test.sh
+++ b/docker/docker_test.sh
@@ -141,7 +141,7 @@ cpp_python_linking_uninstall_test() {
     # Python test
     echo "pytest is randomized, add --randomly-seed=SEED to repeat the test sequence."
     ${docker_run} -i --rm "${DOCKER_TAG}" /bin/bash -c " \
-        python -m pytest python/test ${pytest_args} -s"
+        python  -W default -m pytest python/test ${pytest_args} -s"
     restart_docker_daemon_if_on_gcloud
 
     # Command-line tools test