diff --git a/ChangeLog.d/8340.txt b/ChangeLog.d/8340.txt
new file mode 100644
index 0000000000..5664bf170c
--- /dev/null
+++ b/ChangeLog.d/8340.txt
@@ -0,0 +1,4 @@
+Features
+   * Add functions mbedtls_md_psa_alg_from_type() and
+     mbedtls_md_type_from_psa_alg() to convert between mbedtls_md_type_t and
+     psa_algorithm_t.
diff --git a/docs/psa-transition.md b/docs/psa-transition.md
index 617426cfd7..e89128cbdd 100644
--- a/docs/psa-transition.md
+++ b/docs/psa-transition.md
@@ -443,6 +443,10 @@ The equivalent to `mbedtls_md_type_t` and `MBEDTLS_MD_XXX` constants is the type
 | `MBEDTLS_MD_SHA3_384`  | `PSA_ALG_SHA3_384`  |
 | `MBEDTLS_MD_SHA3_512`  | `PSA_ALG_SHA3_512`  |
 
+The following helper functions can be used to convert between the 2 types:
+- `mbedtls_md_psa_alg_from_type()` converts from legacy `mbedtls_md_type_t` to PSA's `psa_algorithm_t`.
+- `mbedtls_md_type_from_psa_alg()` converts from PSA's `psa_algorithm_t` to legacy `mbedtls_md_type_t`.
+
 ### MAC mechanism selection
 
 PSA Crypto has a generic API with the same functions for all MAC mechanisms. The mechanism is determined by a combination of an algorithm value of type [`psa_algorithm_t`](https://mbed-tls.readthedocs.io/projects/api/en/development/api/group/group__crypto__types/#group__crypto__types_1gac2e4d47f1300d73c2f829a6d99252d69) and a key type value of type [`psa_key_type_t`](https://mbed-tls.readthedocs.io/projects/api/en/development/api/group/group__crypto__types/#group__crypto__types_1ga63fce6880ca5933b5d6baa257febf1f6).
diff --git a/include/mbedtls/psa_util.h b/include/mbedtls/psa_util.h
index 1b142562ec..47724c633f 100644
--- a/include/mbedtls/psa_util.h
+++ b/include/mbedtls/psa_util.h
@@ -139,6 +139,43 @@ mbedtls_ecp_group_id mbedtls_ecc_group_from_psa(psa_ecc_family_t family,
                                                 size_t bits);
 #endif /* PSA_WANT_KEY_TYPE_ECC_PUBLIC_KEY */
 
+/**
+ * \brief           This function returns the PSA algorithm identifier
+ *                  associated with the given digest type.
+ *
+ * \param md_type   The type of digest to search for. Must not be NONE.
+ *
+ * \warning         If \p md_type is \c MBEDTLS_MD_NONE, this function will
+ *                  not return \c PSA_ALG_NONE, but an invalid algorithm.
+ *
+ * \warning         This function does not check if the algorithm is
+ *                  supported, it always returns the corresponding identifier.
+ *
+ * \return          The PSA algorithm identifier associated with \p md_type,
+ *                  regardless of whether it is supported or not.
+ */
+static inline psa_algorithm_t mbedtls_md_psa_alg_from_type(mbedtls_md_type_t md_type)
+{
+    return PSA_ALG_CATEGORY_HASH | (psa_algorithm_t) md_type;
+}
+
+/**
+ * \brief           This function returns the given digest type
+ *                  associated with the PSA algorithm identifier.
+ *
+ * \param psa_alg   The PSA algorithm identifier to search for.
+ *
+ * \warning         This function does not check if the algorithm is
+ *                  supported, it always returns the corresponding identifier.
+ *
+ * \return          The MD type associated with \p psa_alg,
+ *                  regardless of whether it is supported or not.
+ */
+static inline mbedtls_md_type_t mbedtls_md_type_from_psa_alg(psa_algorithm_t psa_alg)
+{
+    return (mbedtls_md_type_t) (psa_alg & PSA_ALG_HASH_MASK);
+}
+
 /**@}*/
 
 #endif /* MBEDTLS_PSA_CRYPTO_C */
diff --git a/library/md_psa.h b/library/md_psa.h
index b201263b1a..028ba2409c 100644
--- a/library/md_psa.h
+++ b/library/md_psa.h
@@ -15,43 +15,6 @@
 #include "mbedtls/md.h"
 #include "psa/crypto.h"
 
-/**
- * \brief           This function returns the PSA algorithm identifier
- *                  associated with the given digest type.
- *
- * \param md_type   The type of digest to search for. Must not be NONE.
- *
- * \warning         If \p md_type is \c MBEDTLS_MD_NONE, this function will
- *                  not return \c PSA_ALG_NONE, but an invalid algorithm.
- *
- * \warning         This function does not check if the algorithm is
- *                  supported, it always returns the corresponding identifier.
- *
- * \return          The PSA algorithm identifier associated with \p md_type,
- *                  regardless of whether it is supported or not.
- */
-static inline psa_algorithm_t mbedtls_md_psa_alg_from_type(mbedtls_md_type_t md_type)
-{
-    return PSA_ALG_CATEGORY_HASH | (psa_algorithm_t) md_type;
-}
-
-/**
- * \brief           This function returns the given digest type
- *                  associated with the PSA algorithm identifier.
- *
- * \param psa_alg   The PSA algorithm identifier to search for.
- *
- * \warning         This function does not check if the algorithm is
- *                  supported, it always returns the corresponding identifier.
- *
- * \return          The MD type associated with \p psa_alg,
- *                  regardless of whether it is supported or not.
- */
-static inline mbedtls_md_type_t mbedtls_md_type_from_psa_alg(psa_algorithm_t psa_alg)
-{
-    return (mbedtls_md_type_t) (psa_alg & PSA_ALG_HASH_MASK);
-}
-
 /** Convert PSA status to MD error code.
  *
  * \param status    PSA status.
diff --git a/library/pk.c b/library/pk.c
index 61ac0dfab0..9261837017 100644
--- a/library/pk.c
+++ b/library/pk.c
@@ -31,7 +31,7 @@
 
 #if defined(MBEDTLS_USE_PSA_CRYPTO)
 #include "psa_util_internal.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 #endif
 
 #include <limits.h>
diff --git a/library/pk_wrap.c b/library/pk_wrap.c
index 9247945230..c232650229 100644
--- a/library/pk_wrap.c
+++ b/library/pk_wrap.c
@@ -13,7 +13,7 @@
 #include "pk_wrap.h"
 #include "pk_internal.h"
 #include "mbedtls/error.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 /* Even if RSA not activated, for the sake of RSA-alt */
 #include "mbedtls/rsa.h"
diff --git a/library/psa_crypto.c b/library/psa_crypto.c
index b4dffa933b..3be3176e6b 100644
--- a/library/psa_crypto.c
+++ b/library/psa_crypto.c
@@ -70,7 +70,7 @@
 #include "mbedtls/sha1.h"
 #include "mbedtls/sha256.h"
 #include "mbedtls/sha512.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 #if defined(MBEDTLS_PSA_BUILTIN_ALG_HKDF) ||          \
     defined(MBEDTLS_PSA_BUILTIN_ALG_HKDF_EXTRACT) ||  \
diff --git a/library/psa_crypto_ecp.c b/library/psa_crypto_ecp.c
index 61c941479a..db085418e0 100644
--- a/library/psa_crypto_ecp.c
+++ b/library/psa_crypto_ecp.c
@@ -14,7 +14,7 @@
 #include "psa_crypto_core.h"
 #include "psa_crypto_ecp.h"
 #include "psa_crypto_random_impl.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 #include <stdlib.h>
 #include <string.h>
diff --git a/library/psa_crypto_rsa.c b/library/psa_crypto_rsa.c
index 0679f41eab..7b58ea22a5 100644
--- a/library/psa_crypto_rsa.c
+++ b/library/psa_crypto_rsa.c
@@ -16,7 +16,7 @@
 #include "psa_crypto_random_impl.h"
 #include "psa_crypto_rsa.h"
 #include "psa_crypto_hash.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 #include <stdlib.h>
 #include <string.h>
diff --git a/library/ssl_ciphersuites.c b/library/ssl_ciphersuites.c
index 6224ef205f..23619a26c8 100644
--- a/library/ssl_ciphersuites.c
+++ b/library/ssl_ciphersuites.c
@@ -17,7 +17,7 @@
 #include "mbedtls/ssl.h"
 #include "ssl_misc.h"
 #if defined(MBEDTLS_USE_PSA_CRYPTO)
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 #endif
 
 #include <string.h>
diff --git a/library/ssl_cookie.c b/library/ssl_cookie.c
index ee81eb420f..2772cac4be 100644
--- a/library/ssl_cookie.c
+++ b/library/ssl_cookie.c
@@ -24,7 +24,7 @@
 #include <string.h>
 
 #if defined(MBEDTLS_USE_PSA_CRYPTO)
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 /* Define a local translating function to save code size by not using too many
  * arguments in each translating place. */
 static int local_err_translation(psa_status_t status)
diff --git a/library/ssl_tls.c b/library/ssl_tls.c
index 8c1e37251b..0bc18f1261 100644
--- a/library/ssl_tls.c
+++ b/library/ssl_tls.c
@@ -29,6 +29,7 @@
 #include <string.h>
 
 #if defined(MBEDTLS_USE_PSA_CRYPTO)
+#include "mbedtls/psa_util.h"
 #include "md_psa.h"
 #include "psa_util_internal.h"
 #include "psa/crypto.h"
diff --git a/library/ssl_tls13_client.c b/library/ssl_tls13_client.c
index 5c668bdf29..a3d33a34f8 100644
--- a/library/ssl_tls13_client.c
+++ b/library/ssl_tls13_client.c
@@ -19,7 +19,7 @@
 #include "ssl_client.h"
 #include "ssl_tls13_keys.h"
 #include "ssl_debug_helpers.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 #if defined(MBEDTLS_SSL_TLS1_3_KEY_EXCHANGE_MODE_SOME_EPHEMERAL_ENABLED)
 /* Define a local translating function to save code size by not using too many
diff --git a/library/ssl_tls13_generic.c b/library/ssl_tls13_generic.c
index 47fa65c188..04ecd8b43a 100644
--- a/library/ssl_tls13_generic.c
+++ b/library/ssl_tls13_generic.c
@@ -17,7 +17,7 @@
 #include "mbedtls/platform.h"
 #include "mbedtls/constant_time.h"
 #include "psa/crypto.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 #include "ssl_misc.h"
 #include "ssl_tls13_invasive.h"
diff --git a/library/ssl_tls13_keys.c b/library/ssl_tls13_keys.c
index 9b775ec954..edb453c3e2 100644
--- a/library/ssl_tls13_keys.c
+++ b/library/ssl_tls13_keys.c
@@ -22,7 +22,7 @@
 #include "ssl_tls13_invasive.h"
 
 #include "psa/crypto.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 /* Define a local translating function to save code size by not using too many
  * arguments in each translating place. */
diff --git a/library/ssl_tls13_server.c b/library/ssl_tls13_server.c
index 6e2866a112..904bb5b6f4 100644
--- a/library/ssl_tls13_server.c
+++ b/library/ssl_tls13_server.c
@@ -14,7 +14,7 @@
 #include "mbedtls/platform.h"
 #include "mbedtls/constant_time.h"
 #include "mbedtls/oid.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 #include "ssl_misc.h"
 #include "ssl_tls13_keys.h"
diff --git a/library/x509_crt.c b/library/x509_crt.c
index 4e7672e374..84b92a891a 100644
--- a/library/x509_crt.c
+++ b/library/x509_crt.c
@@ -35,7 +35,7 @@
 #if defined(MBEDTLS_USE_PSA_CRYPTO)
 #include "psa/crypto.h"
 #include "psa_util_internal.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 #endif /* MBEDTLS_USE_PSA_CRYPTO */
 #include "pk_internal.h"
 
diff --git a/library/x509write_crt.c b/library/x509write_crt.c
index 44b6b1781e..913b15a709 100644
--- a/library/x509write_crt.c
+++ b/library/x509write_crt.c
@@ -33,7 +33,7 @@
 #if defined(MBEDTLS_USE_PSA_CRYPTO)
 #include "psa/crypto.h"
 #include "psa_util_internal.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 #endif /* MBEDTLS_USE_PSA_CRYPTO */
 
 void mbedtls_x509write_crt_init(mbedtls_x509write_cert *ctx)
diff --git a/library/x509write_csr.c b/library/x509write_csr.c
index 254da69a9f..af75e7f720 100644
--- a/library/x509write_csr.c
+++ b/library/x509write_csr.c
@@ -24,7 +24,7 @@
 #if defined(MBEDTLS_USE_PSA_CRYPTO)
 #include "psa/crypto.h"
 #include "psa_util_internal.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 #endif /* MBEDTLS_USE_PSA_CRYPTO */
 
 #include <string.h>
diff --git a/tests/src/test_helpers/ssl_helpers.c b/tests/src/test_helpers/ssl_helpers.c
index 3d8937da6d..2368a7654f 100644
--- a/tests/src/test_helpers/ssl_helpers.c
+++ b/tests/src/test_helpers/ssl_helpers.c
@@ -9,7 +9,7 @@
  */
 
 #include <test/ssl_helpers.h>
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 #if defined(MBEDTLS_SSL_TLS_C)
 #if defined(MBEDTLS_SSL_HANDSHAKE_WITH_CERT_ENABLED)
diff --git a/tests/suites/test_suite_constant_time_hmac.function b/tests/suites/test_suite_constant_time_hmac.function
index 9d9aa3c778..0e870d80fd 100644
--- a/tests/suites/test_suite_constant_time_hmac.function
+++ b/tests/suites/test_suite_constant_time_hmac.function
@@ -3,7 +3,7 @@
 #include <mbedtls/constant_time.h>
 #include <mbedtls/md.h>
 #include <constant_time_internal.h>
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 #include <ssl_misc.h>
 
 #include <test/constant_flow.h>
diff --git a/tests/suites/test_suite_md.function b/tests/suites/test_suite_md.function
index 866ff588f8..2a885e2371 100644
--- a/tests/suites/test_suite_md.function
+++ b/tests/suites/test_suite_md.function
@@ -1,6 +1,6 @@
 /* BEGIN_HEADER */
 #include "mbedtls/md.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 #include "mbedtls/oid.h"
 #include "mbedtls/asn1.h"
diff --git a/tests/suites/test_suite_pk.function b/tests/suites/test_suite_pk.function
index 226598c724..f054443178 100644
--- a/tests/suites/test_suite_pk.function
+++ b/tests/suites/test_suite_pk.function
@@ -16,7 +16,7 @@
  * but the test code generator requires test case data to be valid C code
  * unconditionally (https://github.com/Mbed-TLS/mbedtls/issues/2023). */
 #include "psa/crypto.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 /* Used for properly sizing the key buffer in pk_genkey_ec() */
 #include "psa_util_internal.h"
diff --git a/tests/suites/test_suite_x509write.function b/tests/suites/test_suite_x509write.function
index 503d9764cb..1d8b87ce21 100644
--- a/tests/suites/test_suite_x509write.function
+++ b/tests/suites/test_suite_x509write.function
@@ -7,7 +7,7 @@
 #include "mbedtls/rsa.h"
 #include "mbedtls/asn1write.h"
 #include "mbedtls/pk.h"
-#include "md_psa.h"
+#include "mbedtls/psa_util.h"
 
 #if defined(MBEDTLS_RSA_C)
 int mbedtls_rsa_decrypt_func(void *ctx, size_t *olen,