diff --git a/AUTHORS.rst b/AUTHORS.rst
index 1b4d6e7c85b..5c463beed8e 100644
--- a/AUTHORS.rst
+++ b/AUTHORS.rst
@@ -72,6 +72,7 @@ Contributors
 * Michael Wilson -- Intersphinx HTTP basic auth support
 * Nathan Damon -- bugfix in validation of static paths in html builders
 * Pauli Virtanen -- autodoc improvements, autosummary extension
+* A. Rafey Khan -- improved intersphinx typing
 * Rob Ruana -- napoleon extension
 * Robert Lehmann -- gettext builder (GSOC project)
 * Roland Meister -- epub builder
diff --git a/pyproject.toml b/pyproject.toml
index 93a3dd405ea..b21b3865426 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -89,7 +89,8 @@ lint = [
     "types-docutils==0.21.0.20240724",
     "types-Pillow==10.2.0.20240822",
     "types-Pygments==2.18.0.20240506",
-    "types-requests>=2.30.0",  # align with requests
+    "types-requests==2.32.0.20240914",  # align with requests
+    "types-urllib3==1.26.25.14",
     "tomli>=2",  # for mypy (Python<=3.10)
     "pytest>=6.0",
 ]
diff --git a/sphinx/ext/intersphinx/_load.py b/sphinx/ext/intersphinx/_load.py
index 358ae1f7ccb..53324f7103f 100644
--- a/sphinx/ext/intersphinx/_load.py
+++ b/sphinx/ext/intersphinx/_load.py
@@ -3,7 +3,6 @@
 from __future__ import annotations
 
 import concurrent.futures
-import functools
 import posixpath
 import time
 from operator import itemgetter
@@ -20,7 +19,8 @@
 
 if TYPE_CHECKING:
     from pathlib import Path
-    from typing import IO
+
+    from urllib3.response import HTTPResponse
 
     from sphinx.application import Sphinx
     from sphinx.config import Config
@@ -31,7 +31,7 @@
         InventoryName,
         InventoryURI,
     )
-    from sphinx.util.typing import Inventory
+    from sphinx.util.typing import Inventory, _ReadableStream
 
 
 def validate_intersphinx_mapping(app: Sphinx, config: Config) -> None:
@@ -278,7 +278,7 @@ def _fetch_inventory(
         target_uri = _strip_basic_auth(target_uri)
     try:
         if '://' in inv_location:
-            f = _read_from_url(inv_location, config=config)
+            f: _ReadableStream[bytes] = _read_from_url(inv_location, config=config)
         else:
             f = open(path.join(srcdir, inv_location), 'rb')  # NoQA: SIM115
     except Exception as err:
@@ -357,7 +357,7 @@ def _strip_basic_auth(url: str) -> str:
     return urlunsplit(frags)
 
 
-def _read_from_url(url: str, *, config: Config) -> IO:
+def _read_from_url(url: str, *, config: Config) -> HTTPResponse:
     """Reads data from *url* with an HTTP *GET*.
 
     This function supports fetching from resources which use basic HTTP auth as
@@ -377,8 +377,11 @@ def _read_from_url(url: str, *, config: Config) -> IO:
                      _user_agent=config.user_agent,
                      _tls_info=(config.tls_verify, config.tls_cacerts))
     r.raise_for_status()
-    r.raw.url = r.url
-    # decode content-body based on the header.
-    # ref: https://github.com/psf/requests/issues/2155
-    r.raw.read = functools.partial(r.raw.read, decode_content=True)
+
+    # For inv_location / new_inv_location
+    r.raw.url = r.url  # type: ignore[union-attr]
+
+    # Decode content-body based on the header.
+    # xref: https://github.com/psf/requests/issues/2155
+    r.raw.decode_content = True
     return r.raw
diff --git a/sphinx/util/inventory.py b/sphinx/util/inventory.py
index c48922cfb61..8ef3831e280 100644
--- a/sphinx/util/inventory.py
+++ b/sphinx/util/inventory.py
@@ -4,7 +4,7 @@
 import os
 import re
 import zlib
-from typing import IO, TYPE_CHECKING
+from typing import TYPE_CHECKING
 
 from sphinx.locale import __
 from sphinx.util import logging
@@ -17,7 +17,7 @@
 
     from sphinx.builders import Builder
     from sphinx.environment import BuildEnvironment
-    from sphinx.util.typing import Inventory, InventoryItem
+    from sphinx.util.typing import Inventory, InventoryItem, _ReadableStream
 
 
 class InventoryFileReader:
@@ -26,7 +26,7 @@ class InventoryFileReader:
     This reader supports mixture of texts and compressed texts.
     """
 
-    def __init__(self, stream: IO[bytes]) -> None:
+    def __init__(self, stream: _ReadableStream[bytes]) -> None:
         self.stream = stream
         self.buffer = b''
         self.eof = False
@@ -80,7 +80,7 @@ class InventoryFile:
     @classmethod
     def load(
         cls: type[InventoryFile],
-        stream: IO[bytes],
+        stream: _ReadableStream[bytes],
         uri: str,
         joinfunc: Callable[[str, str], str],
     ) -> Inventory:
diff --git a/sphinx/util/typing.py b/sphinx/util/typing.py
index dbad5457ce5..31dfa8f2940 100644
--- a/sphinx/util/typing.py
+++ b/sphinx/util/typing.py
@@ -117,6 +117,29 @@ def __call__(
 # title getter functions for enumerable nodes (see sphinx.domains.std)
 TitleGetter: TypeAlias = Callable[[nodes.Node], str]
 
+# Readable file stream for inventory loading
+if TYPE_CHECKING:
+    from types import TracebackType
+
+    from typing_extensions import Self
+
+    _T_co = TypeVar('_T_co', str, bytes, covariant=True)
+
+    class _ReadableStream(Protocol[_T_co]):
+        def read(self, size: int = ...) -> _T_co:
+            ...
+
+        def __enter__(self) -> Self:
+            ...
+
+        def __exit__(
+            self,
+            exc_type: type[BaseException] | None,
+            exc_val: BaseException | None,
+            exc_tb: TracebackType | None
+        ) -> None:
+            ...
+
 # inventory data on memory
 InventoryItem: TypeAlias = tuple[
     str,  # project name
diff --git a/tests/test_builders/test_build_linkcheck.py b/tests/test_builders/test_build_linkcheck.py
index 845b1aedc92..c27ad189f3e 100644
--- a/tests/test_builders/test_build_linkcheck.py
+++ b/tests/test_builders/test_build_linkcheck.py
@@ -91,7 +91,7 @@ def __init__(self) -> None:
 
     def _collect_connections(self) -> Callable[[object, str], HTTPConnectionPool]:
         def connection_collector(obj, url):
-            connection = self.urllib3_connection_from_url(obj, url)
+            connection = self.urllib3_connection_from_url(obj, url)  # type: ignore[no-untyped-call]
             self.connections.add(connection)
             return connection