diff --git a/ChangeLog.d/x509_ext_types_accessor.txt b/ChangeLog.d/x509_ext_types_accessor.txt
new file mode 100644
index 0000000000..13a31521ff
--- /dev/null
+++ b/ChangeLog.d/x509_ext_types_accessor.txt
@@ -0,0 +1,3 @@
+Features
+   * Add the function mbedtls_x509_crt_has_ext_type() to access the ext types
+     field within mbedtls_x509_crt context, as requested in #5585.
diff --git a/include/mbedtls/x509_crt.h b/include/mbedtls/x509_crt.h
index 3e331d4d9d..aa45957061 100644
--- a/include/mbedtls/x509_crt.h
+++ b/include/mbedtls/x509_crt.h
@@ -957,6 +957,23 @@ void mbedtls_x509_crt_restart_free( mbedtls_x509_crt_restart_ctx *ctx );
 #endif /* MBEDTLS_ECDSA_C && MBEDTLS_ECP_RESTARTABLE */
 #endif /* MBEDTLS_X509_CRT_PARSE_C */
 
+/**
+ * \brief               Query certificate for given extension type
+ *
+ * \param[in] ctx       Certificate context to be queried, must not be \c NULL
+ * \param ext_type      Extension type being queried for, must be a valid
+ *                      extension type. Must be one of the MBEDTLS_X509_EXT_XXX
+ *                      values
+ *
+ * \return              0 if the given extension type is not present,
+ *                      non-zero otherwise
+ */
+static inline int mbedtls_x509_crt_has_ext_type( const mbedtls_x509_crt *ctx,
+                                                 int ext_type )
+{
+    return ctx->MBEDTLS_PRIVATE(ext_types) & ext_type;
+}
+
 /** \} name Structures and functions for parsing and writing X.509 certificates */
 
 #if defined(MBEDTLS_X509_CRT_WRITE_C)
diff --git a/tests/suites/test_suite_x509parse.data b/tests/suites/test_suite_x509parse.data
index e21b450b95..d04b7d84b3 100644
--- a/tests/suites/test_suite_x509parse.data
+++ b/tests/suites/test_suite_x509parse.data
@@ -2791,3 +2791,11 @@ x509_verify_restart:"data_files/server10_int3-bs.pem":"data_files/test-int-ca2.c
 X509 CRT verify restart: one int, int badsign, max_ops=500
 depends_on:MBEDTLS_PEM_PARSE_C:MBEDTLS_ECDSA_C:MBEDTLS_SHA256_C:MBEDTLS_ECP_DP_SECP256R1_ENABLED:MBEDTLS_ECP_DP_SECP384R1_ENABLED:MBEDTLS_RSA_C
 x509_verify_restart:"data_files/server10_int3-bs.pem":"data_files/test-int-ca2.crt":MBEDTLS_ERR_X509_CERT_VERIFY_FAILED:MBEDTLS_X509_BADCERT_NOT_TRUSTED:500:25:100
+
+X509 ext types accessor: ext type present
+depends_on:MBEDTLS_X509_CRT_PARSE_C
+x509_accessor_ext_types:MBEDTLS_X509_EXT_KEY_USAGE:MBEDTLS_X509_EXT_KEY_USAGE
+
+X509 ext types accessor: ext type not present
+depends_on:MBEDTLS_X509_CRT_PARSE_C
+x509_accessor_ext_types:MBEDTLS_X509_EXT_KEY_USAGE:MBEDTLS_X509_EXT_SUBJECT_ALT_NAME
diff --git a/tests/suites/test_suite_x509parse.function b/tests/suites/test_suite_x509parse.function
index 8605b63c04..1d06fe3c4f 100644
--- a/tests/suites/test_suite_x509parse.function
+++ b/tests/suites/test_suite_x509parse.function
@@ -401,6 +401,22 @@ int parse_crt_ext_cb( void *p_ctx, mbedtls_x509_crt const *crt, mbedtls_x509_buf
  * END_DEPENDENCIES
  */
 
+/* BEGIN_CASE depends_on:MBEDTLS_X509_CRT_PARSE_C */
+void x509_accessor_ext_types( int ext_type, int has_ext_type )
+{
+    mbedtls_x509_crt crt;
+    int expected_result = ext_type & has_ext_type;
+
+    mbedtls_x509_crt_init( &crt );
+
+    crt.ext_types = ext_type;
+
+    TEST_ASSERT( mbedtls_x509_crt_has_ext_type( &crt, has_ext_type ) == expected_result );
+
+    mbedtls_x509_crt_free( &crt );
+}
+/* END_CASE */
+
 /* BEGIN_CASE depends_on:MBEDTLS_FS_IO:MBEDTLS_X509_CRT_PARSE_C */
 void x509_parse_san( char * crt_file, char * result_str )
 {