diff --git a/include/mbedtls/ssl.h b/include/mbedtls/ssl.h
index 1c98a5e5a8..7fec65e1dd 100644
--- a/include/mbedtls/ssl.h
+++ b/include/mbedtls/ssl.h
@@ -2682,6 +2682,9 @@ int mbedtls_ssl_conf_own_cert( mbedtls_ssl_config *conf,
  * \note           This is mainly useful for clients. Servers will usually
  *                 want to use \c mbedtls_ssl_conf_psk_cb() instead.
  *
+ * \note           A PSK set by \c mbedtls_ssl_set_hs_psk() in the PSK callback
+ *                 takes precedence over a PSK configured by this function.
+ *
  * \warning        Currently, clients can only register a single pre-shared key.
  *                 Calling this function or mbedtls_ssl_conf_psk_opaque() more
  *                 than once will overwrite values configured in previous calls.
@@ -2715,6 +2718,10 @@ int mbedtls_ssl_conf_psk( mbedtls_ssl_config *conf,
  * \note           This is mainly useful for clients. Servers will usually
  *                 want to use \c mbedtls_ssl_conf_psk_cb() instead.
  *
+ * \note           An opaque PSK set by \c mbedtls_ssl_set_hs_psk_opaque() in
+ *                 the PSK callback takes precedence over an opaque PSK
+ *                 configured by this function.
+ *
  * \warning        Currently, clients can only register a single pre-shared key.
  *                 Calling this function or mbedtls_ssl_conf_psk() more than
  *                 once will overwrite values configured in previous calls.
@@ -2752,6 +2759,9 @@ int mbedtls_ssl_conf_psk_opaque( mbedtls_ssl_config *conf,
  * \note           This should only be called inside the PSK callback,
  *                 i.e. the function passed to \c mbedtls_ssl_conf_psk_cb().
  *
+ * \note           A PSK set by this function takes precedence over a PSK
+ *                 configured by \c mbedtls_ssl_conf_psk().
+ *
  * \param ssl      The SSL context to configure a PSK for.
  * \param psk      The pointer to the pre-shared key.
  * \param psk_len  The length of the pre-shared key in bytes.
@@ -2769,6 +2779,9 @@ int mbedtls_ssl_set_hs_psk( mbedtls_ssl_context *ssl,
  * \note           This should only be called inside the PSK callback,
  *                 i.e. the function passed to \c mbedtls_ssl_conf_psk_cb().
  *
+ * \note           An opaque PSK set by this function takes precedence over an
+ *                 opaque PSK configured by \c mbedtls_ssl_conf_psk_opaque().
+ *
  * \param ssl      The SSL context to configure a PSK for.
  * \param psk      The identifier of the key slot holding the PSK.
  *                 For the duration of the current handshake, the key slot
@@ -2807,9 +2820,14 @@ int mbedtls_ssl_set_hs_psk_opaque( mbedtls_ssl_context *ssl,
  *                 on the SSL context to set the correct PSK and return \c 0.
  *                 Any other return value will result in a denied PSK identity.
  *
- * \note           If you set a PSK callback using this function, then you
- *                 don't need to set a PSK key and identity using
- *                 \c mbedtls_ssl_conf_psk().
+ * \note           A dynamic PSK (i.e. set by the PSK callback) takes
+ *                 precedence over a static PSK (i.e. set by
+ *                 \c mbedtls_ssl_conf_psk() or
+ *                 \c mbedtls_ssl_conf_psk_opaque()).
+ *                 This means that if you set a PSK callback using this
+ *                 function, you don't need to set a PSK using
+ *                 \c mbedtls_ssl_conf_psk() or
+ *                 \c mbedtls_ssl_conf_psk_opaque()).
  *
  * \param conf     The SSL configuration to register the callback with.
  * \param f_psk    The callback for selecting and setting the PSK based
diff --git a/include/mbedtls/ssl_internal.h b/include/mbedtls/ssl_internal.h
index f83d01454f..e92381c33d 100644
--- a/include/mbedtls/ssl_internal.h
+++ b/include/mbedtls/ssl_internal.h
@@ -921,7 +921,60 @@ void mbedtls_ssl_optimize_checksum( mbedtls_ssl_context *ssl,
 
 #if defined(MBEDTLS_KEY_EXCHANGE_SOME_PSK_ENABLED)
 int mbedtls_ssl_psk_derive_premaster( mbedtls_ssl_context *ssl, mbedtls_key_exchange_type_t key_ex );
-#endif
+
+/**
+ * Get the first defined PSK by order of precedence:
+ * 1. handshake PSK set by \c mbedtls_ssl_set_hs_psk() in the PSK callback
+ * 2. static PSK configured by \c mbedtls_ssl_conf_psk()
+ * Return a code and update the pair (PSK, PSK length) passed to this function
+ */
+static inline int mbedtls_ssl_get_psk( const mbedtls_ssl_context *ssl,
+    const unsigned char **psk, size_t *psk_len )
+{
+    if( ssl->handshake->psk != NULL && ssl->handshake->psk_len > 0 )
+    {
+        *psk = ssl->handshake->psk;
+        *psk_len = ssl->handshake->psk_len;
+    }
+
+    else if( ssl->conf->psk != NULL && ssl->conf->psk_len > 0 )
+    {
+        *psk = ssl->conf->psk;
+        *psk_len = ssl->conf->psk_len;
+    }
+
+    else
+    {
+        *psk = NULL;
+        *psk_len = 0;
+        return( MBEDTLS_ERR_SSL_PRIVATE_KEY_REQUIRED );
+    }
+
+    return( 0 );
+}
+
+#if defined(MBEDTLS_USE_PSA_CRYPTO)
+/**
+ * Get the first defined opaque PSK by order of precedence:
+ * 1. handshake PSK set by \c mbedtls_ssl_set_hs_psk_opaque() in the PSK
+ *    callback
+ * 2. static PSK configured by \c mbedtls_ssl_conf_psk_opaque()
+ * Return an opaque PSK
+ */
+static inline psa_key_handle_t mbedtls_ssl_get_opaque_psk(
+    const mbedtls_ssl_context *ssl )
+{
+    if( ssl->handshake->psk_opaque != 0 )
+        return( ssl->handshake->psk_opaque );
+
+    if( ssl->conf->psk_opaque != 0 )
+        return( ssl->conf->psk_opaque );
+
+    return( 0 );
+}
+#endif /* MBEDTLS_USE_PSA_CRYPTO */
+
+#endif /* MBEDTLS_KEY_EXCHANGE_SOME_PSK_ENABLED */
 
 #if defined(MBEDTLS_PK_C)
 unsigned char mbedtls_ssl_sig_from_pk( mbedtls_pk_context *pk );
diff --git a/library/ssl_tls.c b/library/ssl_tls.c
index d0adfd9515..dbc5a3e880 100644
--- a/library/ssl_tls.c
+++ b/library/ssl_tls.c
@@ -1514,9 +1514,7 @@ static int ssl_compute_master( mbedtls_ssl_handshake_params *handshake,
 
         MBEDTLS_SSL_DEBUG_MSG( 2, ( "perform PSA-based PSK-to-MS expansion" ) );
 
-        psk = ssl->conf->psk_opaque;
-        if( handshake->psk_opaque != 0 )
-            psk = handshake->psk_opaque;
+        psk = mbedtls_ssl_get_opaque_psk( ssl );
 
         if( hash_alg == MBEDTLS_MD_SHA384 )
             alg = PSA_ALG_TLS12_PSK_TO_MS(PSA_ALG_SHA_384);
@@ -1850,14 +1848,18 @@ int mbedtls_ssl_psk_derive_premaster( mbedtls_ssl_context *ssl, mbedtls_key_exch
 {
     unsigned char *p = ssl->handshake->premaster;
     unsigned char *end = p + sizeof( ssl->handshake->premaster );
-    const unsigned char *psk = ssl->conf->psk;
-    size_t psk_len = ssl->conf->psk_len;
+    const unsigned char *psk = NULL;
+    size_t psk_len = 0;
 
-    /* If the psk callback was called, use its result */
-    if( ssl->handshake->psk != NULL )
+    if( mbedtls_ssl_get_psk( ssl, &psk, &psk_len )
+            == MBEDTLS_ERR_SSL_PRIVATE_KEY_REQUIRED )
     {
-        psk = ssl->handshake->psk;
-        psk_len = ssl->handshake->psk_len;
+        /*
+         * This should never happen because the existence of a PSK is always
+         * checked before calling this function
+         */
+        MBEDTLS_SSL_DEBUG_MSG( 1, ( "should never happen" ) );
+        return( MBEDTLS_ERR_SSL_INTERNAL_ERROR );
     }
 
     /*