diff --git a/CMakeLists.txt b/CMakeLists.txt
index ad056466ad..37a742e392 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -278,6 +278,8 @@ add_subdirectory(3rdparty)
 
 add_subdirectory(library)
 
+add_subdirectory(pkgconfig)
+
 #
 # The C files in tests/src directory contain test code shared among test suites
 # and programs. This shared test code is compiled and linked to test suites and
diff --git a/ChangeLog.d/pkg-config-files-addition.txt b/ChangeLog.d/pkg-config-files-addition.txt
new file mode 100644
index 0000000000..e39f62ed96
--- /dev/null
+++ b/ChangeLog.d/pkg-config-files-addition.txt
@@ -0,0 +1,2 @@
+Features
+    * Add pc files for pkg-config. eg.) pkg-config --cflags --libs (mbedtls|mbedcrypto|mbedx509)
diff --git a/pkgconfig/CMakeLists.txt b/pkgconfig/CMakeLists.txt
new file mode 100644
index 0000000000..7dfc043ce1
--- /dev/null
+++ b/pkgconfig/CMakeLists.txt
@@ -0,0 +1,25 @@
+if(NOT DISABLE_PACKAGE_CONFIG_AND_INSTALL)
+  include(JoinPaths.cmake)
+  join_paths(PKGCONFIG_INCLUDEDIR "\${prefix}" "${CMAKE_INSTALL_INCLUDEDIR}")
+  join_paths(PKGCONFIG_LIBDIR "\${prefix}" "${CMAKE_INSTALL_LIBDIR}")
+
+  #define these manually since minimum CMAKE version is not 3.9 for DESCRIPTION and 3.12 for HOMEPAGE_URL usage in project() below.
+  # Prefix with something that won't clash with newer versions of CMAKE.
+  set(PKGCONFIG_PROJECT_DESCRIPTION "Mbed TLS is a C library that implements cryptographic primitives, X.509 certificate manipulation and the SSL/TLS and DTLS protocols. Its small code footprint makes it suitable for embedded systems.")
+  set(PKGCONFIG_PROJECT_HOMEPAGE_URL "https://www.trustedfirmware.org/projects/mbed-tls/")
+
+  configure_file(mbedcrypto.pc.in mbedcrypto.pc @ONLY)
+    install(FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/mbedcrypto.pc
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
+
+  configure_file(mbedtls.pc.in mbedtls.pc @ONLY)
+    install(FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/mbedtls.pc
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
+
+  configure_file(mbedx509.pc.in mbedx509.pc @ONLY)
+    install(FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/mbedx509.pc
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
+endif()
diff --git a/pkgconfig/JoinPaths.cmake b/pkgconfig/JoinPaths.cmake
new file mode 100644
index 0000000000..193caed76a
--- /dev/null
+++ b/pkgconfig/JoinPaths.cmake
@@ -0,0 +1,27 @@
+# SPDX-License-Identifier: Apache-2.0 OR GPL-2.0-or-later
+# This module provides function for joining paths
+# known from most languages
+#
+# Copyright The Mbed TLS Contributors
+#
+# This script originates from:
+#   - https://github.com/jtojnar/cmake-snips
+# Jan has provided re-licensing under Apache 2.0 and GPL 2.0+ and
+# allowed for the change of Copyright.
+#
+# Modelled after Python’s os.path.join
+# https://docs.python.org/3.7/library/os.path.html#os.path.join
+# Windows not supported
+function(join_paths joined_path first_path_segment)
+    set(temp_path "${first_path_segment}")
+    foreach(current_segment IN LISTS ARGN)
+        if(NOT ("${current_segment}" STREQUAL ""))
+            if(IS_ABSOLUTE "${current_segment}")
+                set(temp_path "${current_segment}")
+            else()
+                set(temp_path "${temp_path}/${current_segment}")
+            endif()
+        endif()
+    endforeach()
+    set(${joined_path} "${temp_path}" PARENT_SCOPE)
+endfunction()
diff --git a/pkgconfig/mbedcrypto.pc.in b/pkgconfig/mbedcrypto.pc.in
new file mode 100644
index 0000000000..b35afc1b5b
--- /dev/null
+++ b/pkgconfig/mbedcrypto.pc.in
@@ -0,0 +1,10 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+includedir=@PKGCONFIG_INCLUDEDIR@
+libdir=@PKGCONFIG_LIBDIR@
+
+Name: @PROJECT_NAME@
+Description: @PKGCONFIG_PROJECT_DESCRIPTION@
+URL: @PKGCONFIG_PROJECT_HOMEPAGE_URL@
+Version: @PROJECT_VERSION@
+Cflags: -I"${includedir}"
+Libs: -L"${libdir}" -lmbedcrypto
diff --git a/pkgconfig/mbedtls.pc.in b/pkgconfig/mbedtls.pc.in
new file mode 100644
index 0000000000..2bfce80b69
--- /dev/null
+++ b/pkgconfig/mbedtls.pc.in
@@ -0,0 +1,11 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+includedir=@PKGCONFIG_INCLUDEDIR@
+libdir=@PKGCONFIG_LIBDIR@
+
+Name: @PROJECT_NAME@
+Description: @PKGCONFIG_PROJECT_DESCRIPTION@
+URL: @PKGCONFIG_PROJECT_HOMEPAGE_URL@
+Version: @PROJECT_VERSION@
+Requires.private: mbedcrypto mbedx509
+Cflags: -I"${includedir}"
+Libs: -L"${libdir}" -lmbedtls
diff --git a/pkgconfig/mbedx509.pc.in b/pkgconfig/mbedx509.pc.in
new file mode 100644
index 0000000000..0ab2e31ea1
--- /dev/null
+++ b/pkgconfig/mbedx509.pc.in
@@ -0,0 +1,11 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+includedir=@PKGCONFIG_INCLUDEDIR@
+libdir=@PKGCONFIG_LIBDIR@
+
+Name: @PROJECT_NAME@
+Description: @PKGCONFIG_PROJECT_DESCRIPTION@
+URL: @PKGCONFIG_PROJECT_HOMEPAGE_URL@
+Version: @PROJECT_VERSION@
+Requires.private: mbedcrypto
+Cflags: -I"${includedir}"
+Libs: -L"${libdir}" -lmbedx509