diff --git a/CMakeLists.txt b/CMakeLists.txt
index b001bb70a1..8444917787 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,6 +39,8 @@ else()
     project("Mbed TLS" C)
 endif()
 
+include(GNUInstallDirs)
+
 # Set the project root directory.
 set(MBEDTLS_DIR ${CMAKE_CURRENT_SOURCE_DIR})
 
@@ -259,8 +261,7 @@ if(CMAKE_BUILD_TYPE STREQUAL "Coverage")
 endif(CMAKE_BUILD_TYPE STREQUAL "Coverage")
 
 if(LIB_INSTALL_DIR)
-else()
-    set(LIB_INSTALL_DIR lib)
+    set(CMAKE_INSTALL_LIBDIR "${LIB_INSTALL_DIR}")
 endif()
 
 if(ENABLE_ZLIB_SUPPORT)
@@ -278,6 +279,8 @@ list(APPEND libs ${thirdparty_lib})
 
 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/cmake_use_GnuInstallDirs.txt b/ChangeLog.d/cmake_use_GnuInstallDirs.txt
new file mode 100644
index 0000000000..d8487555d1
--- /dev/null
+++ b/ChangeLog.d/cmake_use_GnuInstallDirs.txt
@@ -0,0 +1,5 @@
+Changes
+   * cmake: Use GnuInstallDirs to customize install directories
+     Replace custom LIB_INSTALL_DIR variable with standard CMAKE_INSTALL_LIBDIR
+     variable. For backward compatibility, set CMAKE_INSTALL_LIBDIR if
+     LIB_INSTALL_DIR is set.
diff --git a/ChangeLog.d/pkg-config-files-addition.txt b/ChangeLog.d/pkg-config-files-addition.txt
new file mode 100644
index 0000000000..5df6ffb3be
--- /dev/null
+++ b/ChangeLog.d/pkg-config-files-addition.txt
@@ -0,0 +1,3 @@
+Features
+   * Add pc files for pkg-config. eg.:
+     pkg-config --cflags --libs (mbedtls|mbedcrypto|mbedx509)
diff --git a/library/CMakeLists.txt b/library/CMakeLists.txt
index 1b2980dbc6..798f42f713 100644
--- a/library/CMakeLists.txt
+++ b/library/CMakeLists.txt
@@ -239,7 +239,7 @@ foreach(target IN LISTS target_libraries)
             PUBLIC MBEDTLS_USER_CONFIG_FILE="${MBEDTLS_USER_CONFIG_FILE}")
     endif()
     install(TARGETS ${target}
-            DESTINATION ${LIB_INSTALL_DIR}
+            DESTINATION ${CMAKE_INSTALL_LIBDIR}
             PERMISSIONS OWNER_READ OWNER_WRITE GROUP_READ WORLD_READ)
 endforeach(target)
 
diff --git a/pkgconfig/CMakeLists.txt b/pkgconfig/CMakeLists.txt
new file mode 100644
index 0000000000..6def088d2e
--- /dev/null
+++ b/pkgconfig/CMakeLists.txt
@@ -0,0 +1,28 @@
+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/")
+
+  # Following the conventsion for DESCRIPTION and HOMEPAGE_URL, VERSION wasn't added until 3.0 and depends on policy CMP0048
+  set(PKGCONFIG_VERSION 2.28.7)
+
+  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} "${temp_path}" PARENT_SCOPE)
+endfunction()
diff --git a/pkgconfig/mbedcrypto.pc.in b/pkgconfig/mbedcrypto.pc.in
new file mode 100644
index 0000000000..d8f6750f1d
--- /dev/null
+++ b/pkgconfig/mbedcrypto.pc.in
@@ -0,0 +1,10 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+includedir=@PKGCONFIG_INCLUDEDIR@
+libdir=@PKGCONFIG_LIBDIR@
+
+Name: @PROJECT_NAME@
+Description: @PKGCONFIG_PROJECT_DESCRIPTION@
+URL: @PKGCONFIG_PROJECT_HOMEPAGE_URL@
+Version: @PKGCONFIG_VERSION@
+Cflags: -I"${includedir}"
+Libs: -L"${libdir}" -lmbedcrypto
diff --git a/pkgconfig/mbedtls.pc.in b/pkgconfig/mbedtls.pc.in
new file mode 100644
index 0000000000..3802f6a4a3
--- /dev/null
+++ b/pkgconfig/mbedtls.pc.in
@@ -0,0 +1,11 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+includedir=@PKGCONFIG_INCLUDEDIR@
+libdir=@PKGCONFIG_LIBDIR@
+
+Name: @PROJECT_NAME@
+Description: @PKGCONFIG_PROJECT_DESCRIPTION@
+URL: @PKGCONFIG_PROJECT_HOMEPAGE_URL@
+Version: @PKGCONFIG_VERSION@
+Requires.private: mbedcrypto mbedx509
+Cflags: -I"${includedir}"
+Libs: -L"${libdir}" -lmbedtls
diff --git a/pkgconfig/mbedx509.pc.in b/pkgconfig/mbedx509.pc.in
new file mode 100644
index 0000000000..12509470b4
--- /dev/null
+++ b/pkgconfig/mbedx509.pc.in
@@ -0,0 +1,11 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+includedir=@PKGCONFIG_INCLUDEDIR@
+libdir=@PKGCONFIG_LIBDIR@
+
+Name: @PROJECT_NAME@
+Description: @PKGCONFIG_PROJECT_DESCRIPTION@
+URL: @PKGCONFIG_PROJECT_HOMEPAGE_URL@
+Version: @PKGCONFIG_VERSION@
+Requires.private: mbedcrypto
+Cflags: -I"${includedir}"
+Libs: -L"${libdir}" -lmbedx509
diff --git a/scripts/bump_version.sh b/scripts/bump_version.sh
index 926e497b4e..5c8e55d6d0 100755
--- a/scripts/bump_version.sh
+++ b/scripts/bump_version.sh
@@ -67,6 +67,10 @@ then
   exit 1
 fi
 
+[ $VERBOSE ] && echo "Bumping PKGCONFIG_VERSION in pkgconfig/CMakeLists.txt"
+sed -e "s/PKGCONFIG_VERSION [0-9.]\{1,\}/PKGCONFIG_VERSION $VERSION/g" < pkgconfig/CMakeLists.txt > tmp
+mv tmp pkgconfig/CMakeLists.txt
+
 [ $VERBOSE ] && echo "Bumping VERSION in library/CMakeLists.txt"
 sed -e "s/ VERSION [0-9.]\{1,\}/ VERSION $VERSION/g" < library/CMakeLists.txt > tmp
 mv tmp library/CMakeLists.txt