diff --git a/Makefile b/Makefile
index 8e8fba901..1e6dd9071 100644
--- a/Makefile
+++ b/Makefile
@@ -1036,6 +1036,10 @@ ENABLE_FEAT_RNG		=	$(if $(findstring rng,${arch-features}),1,0)
 # Determine if FEAT_SB is supported
 ENABLE_FEAT_SB		=	$(if $(findstring sb,${arch-features}),1,0)
 
+ifeq ($(PSA_CRYPTO),1)
+        $(info PSA_CRYPTO is an experimental feature)
+endif
+
 ################################################################################
 # Process platform overrideable behaviour
 ################################################################################
@@ -1217,6 +1221,7 @@ $(eval $(call assert_booleans,\
 	ERRATA_NON_ARM_INTERCONNECT \
 	CONDITIONAL_CMO \
 	RAS_FFH_SUPPORT \
+	PSA_CRYPTO	\
 )))
 
 # Numeric_Flags
@@ -1407,6 +1412,7 @@ $(eval $(call add_defines,\
 	IMPDEF_SYSREG_TRAP \
 	SVE_VECTOR_LEN \
 	ENABLE_SPMD_LP \
+	PSA_CRYPTO	\
 )))
 
 ifeq (${SANITIZE_UB},trap)
diff --git a/docs/getting_started/build-options.rst b/docs/getting_started/build-options.rst
index 7c84ef163..34d83f255 100644
--- a/docs/getting_started/build-options.rst
+++ b/docs/getting_started/build-options.rst
@@ -1185,6 +1185,12 @@ Common build options
   errata mitigation for platforms with a non-arm interconnect using the errata
   ABI. By default its disabled (``0``).
 
+- ``PSA_CRYPTO``: Boolean option for enabling MbedTLS PSA crypto APIs support.
+  The platform will use PSA compliant Crypto APIs during authentication and
+  image measurement process by enabling this option. It uses APIs defined as
+  per the `PSA Crypto API specification`_. This feature is only supported if
+  using MbedTLS 3.x version. By default it is disabled (``0``).
+
 GICv3 driver options
 --------------------
 
@@ -1306,3 +1312,4 @@ Firmware update options
 .. _GCC: https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
 .. _Clang: https://clang.llvm.org/docs/DiagnosticsReference.html
 .. _Firmware Handoff specification: https://github.com/FirmwareHandoff/firmware_handoff/releases/tag/v0.9
+.. _PSA Crypto API specification: https://armmbed.github.io/mbed-crypto/html/
diff --git a/drivers/auth/mbedtls/mbedtls_common.mk b/drivers/auth/mbedtls/mbedtls_common.mk
index 79c45126a..376b6b7ca 100644
--- a/drivers/auth/mbedtls/mbedtls_common.mk
+++ b/drivers/auth/mbedtls/mbedtls_common.mk
@@ -23,7 +23,11 @@ $(info MBEDTLS_VERSION_MAJOR is [${MBEDTLS_MAJOR}] MBEDTLS_VERSION_MINOR is [${M
 ifeq (${MBEDTLS_MAJOR}, 2)
 	MBEDTLS_CONFIG_FILE	?=	"<drivers/auth/mbedtls/mbedtls_config-2.h>"
 else ifeq (${MBEDTLS_MAJOR}, 3)
-	MBEDTLS_CONFIG_FILE	?=	"<drivers/auth/mbedtls/mbedtls_config-3.h>"
+	ifeq (${PSA_CRYPTO},1)
+		MBEDTLS_CONFIG_FILE     ?=      "<drivers/auth/mbedtls/psa_mbedtls_config.h>"
+	else
+		MBEDTLS_CONFIG_FILE	?=	"<drivers/auth/mbedtls/mbedtls_config-3.h>"
+	endif
 endif
 
 $(eval $(call add_define,MBEDTLS_CONFIG_FILE))
@@ -77,6 +81,18 @@ else ifeq (${MBEDTLS_MAJOR}, 3)
 	LIBMBEDTLS_CFLAGS += -Wno-error=redundant-decls
 endif
 
+ifeq (${PSA_CRYPTO},1)
+LIBMBEDTLS_SRCS         += $(addprefix ${MBEDTLS_DIR}/library/,    	\
+					psa_crypto.c                   	\
+					psa_crypto_client.c            	\
+					psa_crypto_driver_wrappers.c   	\
+					psa_crypto_hash.c              	\
+					psa_crypto_rsa.c               	\
+					psa_crypto_ecp.c               	\
+					psa_crypto_slot_management.c   	\
+					)
+endif
+
 # The platform may define the variable 'TF_MBEDTLS_KEY_ALG' to select the key
 # algorithm to use. If the variable is not defined, select it based on
 # algorithm used for key generation `KEY_ALG`. If `KEY_ALG` is not defined,
diff --git a/include/drivers/auth/mbedtls/psa_mbedtls_config.h b/include/drivers/auth/mbedtls/psa_mbedtls_config.h
new file mode 100644
index 000000000..65df2d4da
--- /dev/null
+++ b/include/drivers/auth/mbedtls/psa_mbedtls_config.h
@@ -0,0 +1,14 @@
+/*
+ * Copyright (c) 2023, Arm Ltd. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef PSA_MBEDTLS_CONFIG_H
+#define PSA_MBEDTLS_CONFIG_H
+
+#include "mbedtls_config-3.h"
+
+#define MBEDTLS_PSA_CRYPTO_C
+
+#endif /* PSA_MBEDTLS_CONFIG_H */
diff --git a/make_helpers/defaults.mk b/make_helpers/defaults.mk
index b7e6f9917..321ae9fd1 100644
--- a/make_helpers/defaults.mk
+++ b/make_helpers/defaults.mk
@@ -359,3 +359,6 @@ CONDITIONAL_CMO			:= 0
 
 # By default, disable SPMD Logical partitions
 ENABLE_SPMD_LP			:= 0
+
+# By default, disable PSA crypto (use MbedTLS legacy crypto API).
+PSA_CRYPTO			:= 0