diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
index d929b27728a..45555b83a84 100644
--- a/3rdparty/find_dependencies.cmake
+++ b/3rdparty/find_dependencies.cmake
@@ -1554,7 +1554,9 @@ if(OPEN3D_USE_ONEAPI_PACKAGES)
         TARGETS TBB::tbb
     )
     list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_SYSTEM Open3D::3rdparty_tbb)
-
+    target_compile_definitions(3rdparty_tbb INTERFACE OPEN3D_USE_ONEAPI_PACKAGES=1)
+    target_compile_definitions(3rdparty_tbb INTERFACE _PSTL_UDR_PRESENT=0)
+    target_compile_definitions(3rdparty_tbb INTERFACE _PSTL_UDS_PRESENT=0)
     # 2. oneDPL
     # /opt/intel/oneapi/dpl/latest/lib/cmake/oneDPL
     open3d_find_package_3rdparty_library(3rdparty_onedpl
diff --git a/3rdparty/fmt/fmt.cmake b/3rdparty/fmt/fmt.cmake
index 88cd8e2fcef..d7698e1a645 100644
--- a/3rdparty/fmt/fmt.cmake
+++ b/3rdparty/fmt/fmt.cmake
@@ -2,16 +2,20 @@ include(ExternalProject)
 
 set(FMT_LIB_NAME fmt)
 
-if (MSVC OR CMAKE_CXX_COMPILER_ID MATCHES "IntelLLVM")
-    # MSVC has errors when building fmt >6, up till 9.1
-    # SYCL / DPC++ needs fmt ver <=6 or >= 9.2: https://github.com/fmtlib/fmt/issues/3005
-    set(FMT_VER "6.0.0")
-    set(FMT_SHA256
-        "f1907a58d5e86e6c382e51441d92ad9e23aea63827ba47fd647eacc0d3a16c78")
+if (MSVC AND BUILD_CUDA_MODULE)
+    if (MSVC_VERSION GREATER_EQUAL 1930)  # v143
+        set(FMT_VER "10.1.1")
+        set(FMT_SHA256
+            "78b8c0a72b1c35e4443a7e308df52498252d1cefc2b08c9a97bc9ee6cfe61f8b")
+    else()
+        set(FMT_VER "6.0.0")
+        set(FMT_SHA256
+            "f1907a58d5e86e6c382e51441d92ad9e23aea63827ba47fd647eacc0d3a16c78")
+    endif()
 else()
-    set(FMT_VER "9.0.0")
+    set(FMT_VER "10.2.1")
     set(FMT_SHA256
-        "9a1e0e9e843a356d65c7604e2c8bf9402b50fe294c355de0095ebd42fb9bd2c5")
+        "1250e4cc58bf06ee631567523f48848dc4596133e163f02615c97f78bab6c811")
 endif()
 
 ExternalProject_Add(
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7d3b964d6d0..4267d56ff46 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -36,6 +36,7 @@
 -   Fix macOS arm64 builds, add CI runner for macOS arm64 (PR #6695)
 -   Fix KDTreeFlann possibly using a dangling pointer instead of internal storage and simplified its members (PR #6734)
 -   Fix segmentation fault (infinite recursion) of DetectPlanarPatches if multiple points have same coordinates (PR #6794)
+-   Fix build with fmt v10.2.0 (#6783)
 
 ## 0.13
 
diff --git a/cpp/open3d/core/DLPack.h b/cpp/open3d/core/DLPack.h
index 9a0c3e57aff..1cec10a712f 100644
--- a/cpp/open3d/core/DLPack.h
+++ b/cpp/open3d/core/DLPack.h
@@ -188,4 +188,56 @@ typedef struct DLManagedTensor {
 #ifdef __cplusplus
 }  // DLPACK_EXTERN_C
 #endif
+
+#include <fmt/core.h>
+#include <fmt/format.h>
+
+namespace fmt {
+
+template <>
+struct formatter<DLDeviceType> {
+    template <typename FormatContext>
+    auto format(const DLDeviceType& c, FormatContext& ctx) const
+            -> decltype(ctx.out()) {
+        const char* text = nullptr;
+        switch (c) {
+            case kDLCPU:
+                text = "kDLCPU";
+                break;
+            case kDLGPU:
+                text = "kDLGPU";
+                break;
+            case kDLCPUPinned:
+                text = "kDLCPUPinned";
+                break;
+            case kDLOpenCL:
+                text = "kDLOpenCL";
+                break;
+            case kDLVulkan:
+                text = "kDLVulkan";
+                break;
+            case kDLMetal:
+                text = "kDLMetal";
+                break;
+            case kDLVPI:
+                text = "kDLVPI";
+                break;
+            case kDLROCM:
+                text = "kDLROCM";
+                break;
+            case kDLExtDev:
+                text = "kDLExtDev";
+                break;
+        }
+        return format_to(ctx.out(), text);
+    }
+
+    template <typename ParseContext>
+    constexpr auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
+        return ctx.begin();
+    }
+};
+
+}  // namespace fmt
+
 #endif  // DLPACK_DLPACK_H_
diff --git a/cpp/open3d/core/linalg/LinalgHeadersCUDA.h b/cpp/open3d/core/linalg/LinalgHeadersCUDA.h
index d34394dc813..cf1b8d635ba 100644
--- a/cpp/open3d/core/linalg/LinalgHeadersCUDA.h
+++ b/cpp/open3d/core/linalg/LinalgHeadersCUDA.h
@@ -16,4 +16,107 @@
 #include <cublas_v2.h>
 #include <cusolverDn.h>
 #include <cusolver_common.h>
+#include <fmt/core.h>
+#include <fmt/format.h>
+
+namespace fmt {
+
+template <>
+struct formatter<cusolverStatus_t> {
+    template <typename FormatContext>
+    auto format(const cusolverStatus_t& c, FormatContext& ctx) const
+            -> decltype(ctx.out()) {
+        const char* text = nullptr;
+        switch (c) {
+            case CUSOLVER_STATUS_SUCCESS:
+                text = "CUSOLVER_STATUS_SUCCESS";
+                break;
+            case CUSOLVER_STATUS_NOT_INITIALIZED:
+                text = "CUSOLVER_STATUS_NOT_INITIALIZED";
+                break;
+            case CUSOLVER_STATUS_ALLOC_FAILED:
+                text = "CUSOLVER_STATUS_ALLOC_FAILED";
+                break;
+            case CUSOLVER_STATUS_INVALID_VALUE:
+                text = "CUSOLVER_STATUS_INVALID_VALUE";
+                break;
+            case CUSOLVER_STATUS_ARCH_MISMATCH:
+                text = "CUSOLVER_STATUS_ARCH_MISMATCH";
+                break;
+            case CUSOLVER_STATUS_MAPPING_ERROR:
+                text = "CUSOLVER_STATUS_MAPPING_ERROR";
+                break;
+            case CUSOLVER_STATUS_EXECUTION_FAILED:
+                text = "CUSOLVER_STATUS_EXECUTION_FAILED";
+                break;
+            case CUSOLVER_STATUS_INTERNAL_ERROR:
+                text = "CUSOLVER_STATUS_INTERNAL_ERROR";
+                break;
+            case CUSOLVER_STATUS_MATRIX_TYPE_NOT_SUPPORTED:
+                text = "CUSOLVER_STATUS_MATRIX_TYPE_NOT_SUPPORTED";
+                break;
+            case CUSOLVER_STATUS_NOT_SUPPORTED:
+                text = "CUSOLVER_STATUS_NOT_SUPPORTED";
+                break;
+            case CUSOLVER_STATUS_ZERO_PIVOT:
+                text = "CUSOLVER_STATUS_ZERO_PIVOT";
+                break;
+            case CUSOLVER_STATUS_INVALID_LICENSE:
+                text = "CUSOLVER_STATUS_INVALID_LICENSE";
+                break;
+            case CUSOLVER_STATUS_IRS_PARAMS_NOT_INITIALIZED:
+                text = "CUSOLVER_STATUS_IRS_PARAMS_NOT_INITIALIZED";
+                break;
+            case CUSOLVER_STATUS_IRS_PARAMS_INVALID:
+                text = "CUSOLVER_STATUS_IRS_PARAMS_INVALID";
+                break;
+            case CUSOLVER_STATUS_IRS_PARAMS_INVALID_PREC:
+                text = "CUSOLVER_STATUS_IRS_PARAMS_INVALID_PREC";
+                break;
+            case CUSOLVER_STATUS_IRS_PARAMS_INVALID_REFINE:
+                text = "CUSOLVER_STATUS_IRS_PARAMS_INVALID_REFINE";
+                break;
+            case CUSOLVER_STATUS_IRS_PARAMS_INVALID_MAXITER:
+                text = "CUSOLVER_STATUS_IRS_PARAMS_INVALID_MAXITER";
+                break;
+            case CUSOLVER_STATUS_IRS_INTERNAL_ERROR:
+                text = "CUSOLVER_STATUS_IRS_INTERNAL_ERROR";
+                break;
+            case CUSOLVER_STATUS_IRS_NOT_SUPPORTED:
+                text = "CUSOLVER_STATUS_IRS_NOT_SUPPORTED";
+                break;
+            case CUSOLVER_STATUS_IRS_OUT_OF_RANGE:
+                text = "CUSOLVER_STATUS_IRS_OUT_OF_RANGE";
+                break;
+            case CUSOLVER_STATUS_IRS_NRHS_NOT_SUPPORTED_FOR_REFINE_GMRES:
+                text = "CUSOLVER_STATUS_IRS_NRHS_NOT_SUPPORTED_FOR_REFINE_"
+                       "GMRES";
+                break;
+            case CUSOLVER_STATUS_IRS_INFOS_NOT_INITIALIZED:
+                text = "CUSOLVER_STATUS_IRS_INFOS_NOT_INITIALIZED";
+                break;
+            case CUSOLVER_STATUS_IRS_INFOS_NOT_DESTROYED:
+                text = "CUSOLVER_STATUS_IRS_INFOS_NOT_DESTROYED";
+                break;
+            case CUSOLVER_STATUS_IRS_MATRIX_SINGULAR:
+                text = "CUSOLVER_STATUS_IRS_MATRIX_SINGULAR";
+                break;
+            case CUSOLVER_STATUS_INVALID_WORKSPACE:
+                text = "CUSOLVER_STATUS_INVALID_WORKSPACE";
+                break;
+            default:
+                text = "CUSOLVER_STATUS_UNKNOWN";
+                break;
+        }
+        return format_to(ctx.out(), text);
+    }
+
+    template <typename ParseContext>
+    constexpr auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
+        return ctx.begin();
+    }
+};
+
+}  // namespace fmt
+
 #endif
diff --git a/cpp/open3d/io/IJsonConvertibleIO.h b/cpp/open3d/io/IJsonConvertibleIO.h
index 8bc9f03b13b..a366b4f5ef8 100644
--- a/cpp/open3d/io/IJsonConvertibleIO.h
+++ b/cpp/open3d/io/IJsonConvertibleIO.h
@@ -82,7 +82,7 @@ bool WriteIJsonConvertibleToJSONString(std::string &json_string,
                 [&str](const std::pair<ENUM_TYPE, std::string> &es_pair)  \
                         -> bool { return es_pair.second == str; });       \
         e = ((it != std::end(m)) ? it : std::begin(m))->first;            \
-        utility::LogDebug("{} -> {}", str, e);                            \
+        utility::LogDebug("{} -> {}", str, enum_to_string(e));            \
     }
 
 }  // namespace io
diff --git a/cpp/open3d/io/sensor/azure_kinect/K4aPlugin.h b/cpp/open3d/io/sensor/azure_kinect/K4aPlugin.h
index cd9a6eb1db1..15e461d4285 100644
--- a/cpp/open3d/io/sensor/azure_kinect/K4aPlugin.h
+++ b/cpp/open3d/io/sensor/azure_kinect/K4aPlugin.h
@@ -295,3 +295,38 @@ k4a_result_t k4a_transformation_depth_image_to_point_cloud(
 }  // namespace k4a_plugin
 }  // namespace io
 }  // namespace open3d
+
+#include <fmt/format.h>
+
+namespace fmt {
+
+template <>
+struct formatter<k4a_wait_result_t> {
+    template <typename FormatContext>
+    auto format(const k4a_wait_result_t &c, FormatContext &ctx) const
+            -> decltype(ctx.out()) {
+        const char *text = nullptr;
+        switch (c) {
+            case K4A_WAIT_RESULT_SUCCEEDED:
+                text = "K4A_WAIT_RESULT_SUCCEEDED";
+                break;
+            case K4A_WAIT_RESULT_FAILED:
+                text = "K4A_WAIT_RESULT_FAILED";
+                break;
+            case K4A_WAIT_RESULT_TIMEOUT:
+                text = "K4A_WAIT_RESULT_TIMEOUT";
+                break;
+            default:
+                text = "Unknown k4a_wait_result_t";
+                break;
+        }
+        return format_to(ctx.out(), text);
+    }
+
+    template <typename ParseContext>
+    constexpr auto parse(ParseContext &ctx) -> decltype(ctx.begin()) {
+        return ctx.begin();
+    }
+};
+
+}  // namespace fmt
diff --git a/cpp/open3d/ml/pytorch/CMakeLists.txt b/cpp/open3d/ml/pytorch/CMakeLists.txt
index adc9ac48e3d..3cb75e531de 100644
--- a/cpp/open3d/ml/pytorch/CMakeLists.txt
+++ b/cpp/open3d/ml/pytorch/CMakeLists.txt
@@ -140,9 +140,18 @@ target_link_libraries(open3d_torch_ops PRIVATE
     Open3D::3rdparty_eigen3
     Open3D::3rdparty_fmt
     Open3D::3rdparty_nanoflann
-    Open3D::3rdparty_parallelstl
     Open3D::3rdparty_tbb
 )
+if (TARGET Open3D::3rdparty_parallelstl)
+    target_link_libraries(open3d_torch_ops PRIVATE
+        Open3D::3rdparty_parallelstl
+    )
+endif()
+if (TARGET Open3D::3rdparty_onedpl)
+    target_link_libraries(open3d_torch_ops PRIVATE
+        Open3D::3rdparty_onedpl
+    )
+endif()
 
 if (BUILD_CUDA_MODULE)
     target_link_libraries(open3d_torch_ops PRIVATE
diff --git a/cpp/open3d/t/geometry/RaycastingScene.cpp b/cpp/open3d/t/geometry/RaycastingScene.cpp
index 14f9962c26c..8906f6373e5 100644
--- a/cpp/open3d/t/geometry/RaycastingScene.cpp
+++ b/cpp/open3d/t/geometry/RaycastingScene.cpp
@@ -1173,4 +1173,44 @@ uint32_t RaycastingScene::INVALID_ID() { return RTC_INVALID_GEOMETRY_ID; }
 
 }  // namespace geometry
 }  // namespace t
-}  // namespace open3d
\ No newline at end of file
+}  // namespace open3d
+
+namespace fmt {
+template <>
+struct formatter<RTCError> {
+    template <typename FormatContext>
+    auto format(const RTCError& c, FormatContext& ctx) {
+        const char* name = nullptr;
+        switch (c) {
+            case RTC_ERROR_NONE:
+                name = "RTC_ERROR_NONE";
+                break;
+            case RTC_ERROR_UNKNOWN:
+                name = "RTC_ERROR_UNKNOWN";
+                break;
+            case RTC_ERROR_INVALID_ARGUMENT:
+                name = "RTC_ERROR_INVALID_ARGUMENT";
+                break;
+            case RTC_ERROR_INVALID_OPERATION:
+                name = "RTC_ERROR_INVALID_OPERATION";
+                break;
+            case RTC_ERROR_OUT_OF_MEMORY:
+                name = "RTC_ERROR_OUT_OF_MEMORY";
+                break;
+            case RTC_ERROR_UNSUPPORTED_CPU:
+                name = "RTC_ERROR_UNSUPPORTED_CPU";
+                break;
+            case RTC_ERROR_CANCELLED:
+                name = "RTC_ERROR_CANCELLED";
+                break;
+        }
+        // return formatter<string_view>::format(name, ctx);
+        return format_to(ctx.out(), name);
+    }
+
+    template <typename ParseContext>
+    constexpr auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
+        return ctx.begin();
+    }
+};
+}  // namespace fmt
diff --git a/cpp/open3d/t/io/sensor/realsense/RSBagReader.cpp b/cpp/open3d/t/io/sensor/realsense/RSBagReader.cpp
index 356fdbed6bc..1bb6dd76081 100644
--- a/cpp/open3d/t/io/sensor/realsense/RSBagReader.cpp
+++ b/cpp/open3d/t/io/sensor/realsense/RSBagReader.cpp
@@ -7,6 +7,9 @@
 
 #include "open3d/t/io/sensor/realsense/RSBagReader.h"
 
+#if FMT_VERSION >= 100000
+#include <fmt/std.h>
+#endif
 #include <json/json.h>
 
 #include <chrono>
diff --git a/cpp/open3d/utility/Logging.h b/cpp/open3d/utility/Logging.h
index 15fe28fa539..fdb132f9b06 100644
--- a/cpp/open3d/utility/Logging.h
+++ b/cpp/open3d/utility/Logging.h
@@ -21,6 +21,9 @@
 #include <fmt/core.h>
 #include <fmt/printf.h>
 #include <fmt/ranges.h>
+#if FMT_VERSION >= 100000
+#include <fmt/std.h>
+#endif
 
 #define DEFAULT_IO_BUFFER_SIZE 1024
 
diff --git a/cpp/open3d/utility/ParallelScan.h b/cpp/open3d/utility/ParallelScan.h
index a98015053f8..0479d611eb5 100644
--- a/cpp/open3d/utility/ParallelScan.h
+++ b/cpp/open3d/utility/ParallelScan.h
@@ -13,6 +13,14 @@
 // clang-format off
 #if TBB_INTERFACE_VERSION >= 10000
     #ifdef OPEN3D_USE_ONEAPI_PACKAGES
+        #ifdef _PSTL_UDR_PRESENT
+            #undef _PSTL_UDR_PRESENT
+        #endif
+        #define _PSTL_UDR_PRESENT 0
+        #ifdef _PSTL_UDS_PRESENT
+            #undef _PSTL_UDS_PRESENT
+        #endif
+        #define _PSTL_UDS_PRESENT 0
         #include <oneapi/dpl/execution>
         #include <oneapi/dpl/numeric>
     #else
diff --git a/cpp/open3d/visualization/rendering/RendererHandle.h b/cpp/open3d/visualization/rendering/RendererHandle.h
index 45b59a70c60..dc8b06382e7 100644
--- a/cpp/open3d/visualization/rendering/RendererHandle.h
+++ b/cpp/open3d/visualization/rendering/RendererHandle.h
@@ -98,7 +98,7 @@ struct REHandle : public REHandle_abstract {
             id = REHandle_abstract::kBadId + 1;
         }
 
-        return std::move(REHandle(id));
+        return REHandle(id);
     }
 
     static REHandle Concretize(const REHandle_abstract& abstract) {
diff --git a/cpp/open3d/visualization/rendering/filament/FilamentResourceManager.cpp b/cpp/open3d/visualization/rendering/filament/FilamentResourceManager.cpp
index 0c831e9d2d0..1dcf1715368 100644
--- a/cpp/open3d/visualization/rendering/filament/FilamentResourceManager.cpp
+++ b/cpp/open3d/visualization/rendering/filament/FilamentResourceManager.cpp
@@ -77,8 +77,8 @@ using ResourcesContainer =
 template <class ResourceType>
 std::shared_ptr<ResourceType> MakeShared(ResourceType* pointer,
                                          filament::Engine& engine) {
-    return std::move(std::shared_ptr<ResourceType>(
-            pointer, [&engine](ResourceType* p) { engine.destroy(p); }));
+    return std::shared_ptr<ResourceType>(
+            pointer, [&engine](ResourceType* p) { engine.destroy(p); });
 }
 
 template <class ResourceType>
diff --git a/cpp/open3d/visualization/webrtc_server/PeerConnectionManager.h b/cpp/open3d/visualization/webrtc_server/PeerConnectionManager.h
index ceb0fc9df74..8ef27e79a54 100644
--- a/cpp/open3d/visualization/webrtc_server/PeerConnectionManager.h
+++ b/cpp/open3d/visualization/webrtc_server/PeerConnectionManager.h
@@ -456,3 +456,45 @@ class PeerConnectionManager {
 }  // namespace webrtc_server
 }  // namespace visualization
 }  // namespace open3d
+
+namespace fmt {
+
+template <>
+struct formatter<webrtc::PeerConnectionInterface::SignalingState> {
+    template <typename FormatContext>
+    auto format(const webrtc::PeerConnectionInterface::SignalingState& state,
+                FormatContext& ctx) const -> decltype(ctx.out()) {
+        using namespace webrtc;
+        const char* text = nullptr;
+        switch (state) {
+            case PeerConnectionInterface::SignalingState::kStable:
+                text = "kStable";
+                break;
+            case PeerConnectionInterface::SignalingState::kHaveLocalOffer:
+                text = "kHaveLocalOffer";
+                break;
+            case PeerConnectionInterface::SignalingState::kHaveLocalPrAnswer:
+                text = "kHaveLocalPrAnswer";
+                break;
+            case PeerConnectionInterface::SignalingState::kHaveRemoteOffer:
+                text = "kHaveRemoteOffer";
+                break;
+            case PeerConnectionInterface::SignalingState::kHaveRemotePrAnswer:
+                text = "kHaveRemotePrAnswer";
+                break;
+            case PeerConnectionInterface::SignalingState::kClosed:
+                text = "kClosed";
+                break;
+            default:
+                text = "unknown";
+        }
+        return format_to(ctx.out(), "{}", text);
+    }
+
+    template <typename ParseContext>
+    constexpr auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
+        return ctx.begin();
+    }
+};
+
+}  // namespace fmt
diff --git a/examples/cpp/OnlineSLAMUtil.h b/examples/cpp/OnlineSLAMUtil.h
index 585f18a8fbe..358256de3df 100644
--- a/examples/cpp/OnlineSLAMUtil.h
+++ b/examples/cpp/OnlineSLAMUtil.h
@@ -5,6 +5,10 @@
 // SPDX-License-Identifier: MIT
 // ----------------------------------------------------------------------------
 
+#if FMT_VERSION >= 100000
+#include <fmt/std.h>
+#endif
+
 #include <atomic>
 #include <sstream>
 #include <thread>