diff --git a/3rdparty/embree/embree.cmake b/3rdparty/embree/embree.cmake
index e0794b55da0..4e93eadf19e 100644
--- a/3rdparty/embree/embree.cmake
+++ b/3rdparty/embree/embree.cmake
@@ -69,8 +69,8 @@ endif()
 ExternalProject_Add(
     ext_embree
     PREFIX embree
-    URL https://github.com/embree/embree/archive/refs/tags/v4.3.1.tar.gz
-    URL_HASH SHA256=824edcbb7a8cd393c5bdb7a16738487b21ecc4e1d004ac9f761e934f97bb02a4
+    URL https://github.com/embree/embree/archive/refs/tags/v3.13.3.tar.gz
+    URL_HASH SHA256=74ec785afb8f14d28ea5e0773544572c8df2e899caccdfc88509f1bfff58716f
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/embree"
     UPDATE_COMMAND ""
     CMAKE_ARGS
@@ -88,7 +88,7 @@ ExternalProject_Add(
         -DEMBREE_TASKING_SYSTEM=INTERNAL
         ${WIN_CMAKE_ARGS}
     BUILD_BYPRODUCTS
-        <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}embree4${CMAKE_STATIC_LIBRARY_SUFFIX}
+        <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}embree3${CMAKE_STATIC_LIBRARY_SUFFIX}
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}simd${CMAKE_STATIC_LIBRARY_SUFFIX}
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}lexers${CMAKE_STATIC_LIBRARY_SUFFIX}
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}sys${CMAKE_STATIC_LIBRARY_SUFFIX}
@@ -100,4 +100,4 @@ ExternalProject_Add(
 ExternalProject_Get_Property(ext_embree INSTALL_DIR)
 set(EMBREE_INCLUDE_DIRS ${INSTALL_DIR}/include/ ${INSTALL_DIR}/src/ext_embree/) # "/" is critical.
 set(EMBREE_LIB_DIR ${INSTALL_DIR}/${Open3D_INSTALL_LIB_DIR})
-set(EMBREE_LIBRARIES embree4 ${ISA_LIBS} simd lexers sys math tasking)
+set(EMBREE_LIBRARIES embree3 ${ISA_LIBS} simd lexers sys math tasking)
diff --git a/cpp/open3d/t/geometry/RaycastingScene.cpp b/cpp/open3d/t/geometry/RaycastingScene.cpp
index 14f9962c26c..af7dd3f1480 100644
--- a/cpp/open3d/t/geometry/RaycastingScene.cpp
+++ b/cpp/open3d/t/geometry/RaycastingScene.cpp
@@ -12,7 +12,7 @@
 #include "open3d/t/geometry/RaycastingScene.h"
 
 // This header is in the embree src dir (embree/src/ext_embree/..).
-#include <embree4/rtcore.h>
+#include <embree3/rtcore.h>
 #include <tbb/parallel_for.h>
 
 #include <Eigen/Core>
@@ -61,7 +61,7 @@ void AssertTensorDtypeLastDimDeviceMinNDim(const open3d::core::Tensor& tensor,
 }
 
 struct CountIntersectionsContext {
-    RTCRayQueryContext context;
+    RTCIntersectContext context;
     std::vector<std::tuple<uint32_t, uint32_t, float>>*
             previous_geom_prim_ID_tfar;
     int* intersections;
@@ -111,7 +111,7 @@ void CountIntersectionsFunc(const RTCFilterFunctionNArguments* args) {
 }
 
 struct ListIntersectionsContext {
-    RTCRayQueryContext context;
+    RTCIntersectContext context;
     std::vector<std::tuple<uint32_t, uint32_t, float>>*
             previous_geom_prim_ID_tfar;
     unsigned int* ray_ids;
@@ -360,6 +360,9 @@ struct RaycastingScene::Impl {
                   const int nthreads) {
         CommitScene();
 
+        struct RTCIntersectContext context;
+        rtcInitIntersectContext(&context);
+
         auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
             std::vector<RTCRayHit> rayhits(range.size());
 
@@ -384,15 +387,16 @@ struct RaycastingScene::Impl {
                 } else {
                     rh.ray.tfar = std::numeric_limits<float>::infinity();
                 }
-                rh.ray.mask = -1;
+                rh.ray.mask = 0;
                 rh.ray.id = i - range.begin();
                 rh.ray.flags = 0;
                 rh.hit.geomID = RTC_INVALID_GEOMETRY_ID;
                 rh.hit.instID[0] = RTC_INVALID_GEOMETRY_ID;
-
-                rtcIntersect1(scene_, &rh);
             }
 
+            rtcIntersect1M(scene_, &context, &rayhits[0], range.size(),
+                           sizeof(RTCRayHit));
+
             for (size_t i = range.begin(); i < range.end(); ++i) {
                 RTCRayHit rh = rayhits[i - range.begin()];
                 size_t idx = rh.ray.id + range.begin();
@@ -442,12 +446,8 @@ struct RaycastingScene::Impl {
                         const int nthreads) {
         CommitScene();
 
-        struct RTCRayQueryContext context;
-        rtcInitRayQueryContext(&context);
-
-        RTCOccludedArguments args;
-        rtcInitOccludedArguments(&args);
-        args.context = &context;
+        struct RTCIntersectContext context;
+        rtcInitIntersectContext(&context);
 
         auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
             std::vector<RTCRay> rayvec(range.size());
@@ -462,13 +462,14 @@ struct RaycastingScene::Impl {
                 ray.dir_z = r[5];
                 ray.tnear = tnear;
                 ray.tfar = tfar;
-                ray.mask = -1;
+                ray.mask = 0;
                 ray.id = i - range.begin();
                 ray.flags = 0;
-
-                rtcOccluded1(scene_, &ray, &args);
             }
 
+            rtcOccluded1M(scene_, &context, &rayvec[0], range.size(),
+                          sizeof(RTCRay));
+
             for (size_t i = range.begin(); i < range.end(); ++i) {
                 RTCRay ray = rayvec[i - range.begin()];
                 size_t idx = ray.id + range.begin();
@@ -507,15 +508,11 @@ struct RaycastingScene::Impl {
                                         0.f));
 
         CountIntersectionsContext context;
-        rtcInitRayQueryContext(&context.context);
+        rtcInitIntersectContext(&context.context);
+        context.context.filter = CountIntersectionsFunc;
         context.previous_geom_prim_ID_tfar = &previous_geom_prim_ID_tfar;
         context.intersections = intersections;
 
-        RTCIntersectArguments args;
-        rtcInitIntersectArguments(&args);
-        args.filter = CountIntersectionsFunc;
-        args.context = &context.context;
-
         auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
             std::vector<RTCRayHit> rayhits(range.size());
 
@@ -530,14 +527,14 @@ struct RaycastingScene::Impl {
                 rh->ray.dir_z = r[5];
                 rh->ray.tnear = 0;
                 rh->ray.tfar = std::numeric_limits<float>::infinity();
-                rh->ray.mask = -1;
+                rh->ray.mask = 0;
                 rh->ray.flags = 0;
                 rh->ray.id = i;
                 rh->hit.geomID = RTC_INVALID_GEOMETRY_ID;
                 rh->hit.instID[0] = RTC_INVALID_GEOMETRY_ID;
-
-                rtcIntersect1(scene_, rh, &args);
             }
+            rtcIntersect1M(scene_, &context.context, &rayhits[0], range.size(),
+                           sizeof(RTCRayHit));
         };
 
         if (nthreads > 0) {
@@ -582,7 +579,8 @@ struct RaycastingScene::Impl {
                                         0.f));
 
         ListIntersectionsContext context;
-        rtcInitRayQueryContext(&context.context);
+        rtcInitIntersectContext(&context.context);
+        context.context.filter = ListIntersectionsFunc;
         context.previous_geom_prim_ID_tfar = &previous_geom_prim_ID_tfar;
         context.ray_ids = ray_ids;
         context.geometry_ids = geometry_ids;
@@ -592,11 +590,6 @@ struct RaycastingScene::Impl {
         context.cumsum = cumsum;
         context.track_intersections = track_intersections;
 
-        RTCIntersectArguments args;
-        rtcInitIntersectArguments(&args);
-        args.filter = ListIntersectionsFunc;
-        args.context = &context.context;
-
         auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
             std::vector<RTCRayHit> rayhits(range.size());
 
@@ -611,14 +604,14 @@ struct RaycastingScene::Impl {
                 rh->ray.dir_z = r[5];
                 rh->ray.tnear = 0;
                 rh->ray.tfar = std::numeric_limits<float>::infinity();
-                rh->ray.mask = -1;
+                rh->ray.mask = 0;
                 rh->ray.flags = 0;
                 rh->ray.id = i;
                 rh->hit.geomID = RTC_INVALID_GEOMETRY_ID;
                 rh->hit.instID[0] = RTC_INVALID_GEOMETRY_ID;
-
-                rtcIntersect1(scene_, rh, &args);
             }
+            rtcIntersect1M(scene_, &context.context, &rayhits[0], range.size(),
+                           sizeof(RTCRayHit));
         };
 
         if (nthreads > 0) {
@@ -702,9 +695,9 @@ RaycastingScene::RaycastingScene(int64_t nthreads)
 
     impl_->scene_ = rtcNewScene(impl_->device_);
     // set flag for better accuracy
-    rtcSetSceneFlags(impl_->scene_,
-                     RTC_SCENE_FLAG_ROBUST |
-                             RTC_SCENE_FLAG_FILTER_FUNCTION_IN_ARGUMENTS);
+    rtcSetSceneFlags(
+            impl_->scene_,
+            RTC_SCENE_FLAG_ROBUST | RTC_SCENE_FLAG_CONTEXT_FILTER_FUNCTION);
 
     impl_->devprop_join_commit = rtcGetDeviceProperty(
             impl_->device_, RTC_DEVICE_PROPERTY_JOIN_COMMIT_SUPPORTED);
@@ -753,7 +746,6 @@ uint32_t RaycastingScene::AddTriangles(const core::Tensor& vertex_positions,
         memcpy(index_buffer, data.GetDataPtr(),
                sizeof(uint32_t) * 3 * num_triangles);
     }
-    rtcSetGeometryEnableFilterFunctionFromArguments(geom, true);
     rtcCommitGeometry(geom);
 
     uint32_t geom_id = rtcAttachGeometry(impl_->scene_, geom);