diff --git a/ChangeLog.d/add-uri-san.txt b/ChangeLog.d/add-uri-san.txt
new file mode 100644
index 0000000000..5184e8f5dc
--- /dev/null
+++ b/ChangeLog.d/add-uri-san.txt
@@ -0,0 +1,3 @@
+Features
+   * Add parsing of uniformResourceIdentifier subtype for subjectAltName
+     extension in x509 certificates.
diff --git a/include/mbedtls/x509.h b/include/mbedtls/x509.h
index aa1cd084ee..9f92ed6ac7 100644
--- a/include/mbedtls/x509.h
+++ b/include/mbedtls/x509.h
@@ -294,7 +294,7 @@ typedef struct mbedtls_x509_subject_alternative_name {
     int type;                              /**< The SAN type, value of MBEDTLS_X509_SAN_XXX. */
     union {
         mbedtls_x509_san_other_name other_name; /**< The otherName supported type. */
-        mbedtls_x509_buf   unstructured_name; /**< The buffer for the un constructed types. Only dnsName currently supported */
+        mbedtls_x509_buf   unstructured_name; /**< The buffer for the unconstructed types. Only dnsName and uniformResourceIdentifier are currently supported */
     }
     san; /**< A union of the supported SAN types */
 }
@@ -385,8 +385,9 @@ int mbedtls_x509_time_is_future(const mbedtls_x509_time *from);
  * \param san      The target structure to populate with the parsed presentation
  *                 of the subject alternative name encoded in \p san_raw.
  *
- * \note           Only "dnsName" and "otherName" of type hardware_module_name
- *                 as defined in RFC 4180 is supported.
+ * \note           Supported GeneralName types, as defined in RFC 5280:
+ *                 "dnsName", "uniformResourceIdentifier" and "hardware_module_name"
+ *                 of type "otherName", as defined in RFC 4108.
  *
  * \note           This function should be called on a single raw data of
  *                 subject alternative name. For example, after successful
diff --git a/include/mbedtls/x509_crt.h b/include/mbedtls/x509_crt.h
index 187e60aac8..036282f7c9 100644
--- a/include/mbedtls/x509_crt.h
+++ b/include/mbedtls/x509_crt.h
@@ -76,7 +76,7 @@ typedef struct mbedtls_x509_crt {
     mbedtls_x509_buf issuer_id;         /**< Optional X.509 v2/v3 issuer unique identifier. */
     mbedtls_x509_buf subject_id;        /**< Optional X.509 v2/v3 subject unique identifier. */
     mbedtls_x509_buf v3_ext;            /**< Optional X.509 v3 extensions.  */
-    mbedtls_x509_sequence subject_alt_names;    /**< Optional list of raw entries of Subject Alternative Names extension (currently only dNSName and OtherName are listed). */
+    mbedtls_x509_sequence subject_alt_names;    /**< Optional list of raw entries of Subject Alternative Names extension (currently only dNSName, uniformResourceIdentifier and OtherName are listed). */
 
     mbedtls_x509_sequence certificate_policies; /**< Optional list of certificate policies (Only anyPolicy is printed and enforced, however the rest of the policies are still listed). */
 
diff --git a/library/x509.c b/library/x509.c
index 2865c2ef11..b859df9d3a 100644
--- a/library/x509.c
+++ b/library/x509.c
@@ -1227,8 +1227,9 @@ static int x509_get_other_name(const mbedtls_x509_buf *subject_alt_name,
  *      nameAssigner            [0]     DirectoryString OPTIONAL,
  *      partyName               [1]     DirectoryString }
  *
- * NOTE: we list all types, but only use dNSName and otherName
- * of type HwModuleName, as defined in RFC 4108, at this point.
+ * We list all types, but use the following GeneralName types from RFC 5280:
+ * "dnsName", "uniformResourceIdentifier" and "hardware_module_name"
+ * of type "otherName", as defined in RFC 4108.
  */
 int mbedtls_x509_get_subject_alt_name(unsigned char **p,
                                       const unsigned char *end,
@@ -1397,7 +1398,19 @@ int mbedtls_x509_parse_subject_alt_name(const mbedtls_x509_buf *san_buf,
 
         }
         break;
+        /*
+         * uniformResourceIdentifier
+         */
+        case (MBEDTLS_ASN1_CONTEXT_SPECIFIC | MBEDTLS_X509_SAN_UNIFORM_RESOURCE_IDENTIFIER):
+        {
+            memset(san, 0, sizeof(mbedtls_x509_subject_alternative_name));
+            san->type = MBEDTLS_X509_SAN_UNIFORM_RESOURCE_IDENTIFIER;
 
+            memcpy(&san->san.unstructured_name,
+                   san_buf, sizeof(*san_buf));
+
+        }
+        break;
         /*
          * dNSName
          */
@@ -1488,7 +1501,23 @@ int mbedtls_x509_info_subject_alt_name(char **buf, size_t *size,
                 }/* MBEDTLS_OID_ON_HW_MODULE_NAME */
             }
             break;
+            /*
+             * uniformResourceIdentifier
+             */
+            case MBEDTLS_X509_SAN_UNIFORM_RESOURCE_IDENTIFIER:
+            {
+                ret = mbedtls_snprintf(p, n, "\n%s    uniformResourceIdentifier : ", prefix);
+                MBEDTLS_X509_SAFE_SNPRINTF;
+                if (san.san.unstructured_name.len >= n) {
+                    *p = '\0';
+                    return MBEDTLS_ERR_X509_BUFFER_TOO_SMALL;
+                }
 
+                memcpy(p, san.san.unstructured_name.p, san.san.unstructured_name.len);
+                p += san.san.unstructured_name.len;
+                n -= san.san.unstructured_name.len;
+            }
+            break;
             /*
              * dNSName
              */
diff --git a/tests/data_files/Makefile b/tests/data_files/Makefile
index 97b26dcd54..7f39d318d4 100644
--- a/tests/data_files/Makefile
+++ b/tests/data_files/Makefile
@@ -336,6 +336,12 @@ server5-tricky-ip-san.crt: server5.key
 	$(OPENSSL) req -x509 -new -subj "/C=UK/O=Mbed TLS/CN=Mbed TLS Tricky IP SAN" -set_serial 77 -config $(test_ca_config_file) -extensions tricky_ip_san -days 3650 -sha256 -key server5.key -out $@
 all_final += server5-tricky-ip-san.crt
 
+rsa_single_san_uri.crt.der: rsa_single_san_uri.key
+	$(OPENSSL) req -x509 -outform der -nodes -days 7300 -newkey rsa:2048 -key $< -out $@ -addext "subjectAltName = URI:urn:example.com:5ff40f78-9210-494f-8206-c2c082f0609c" -extensions 'v3_req' -subj "/C=UK/O=Mbed TLS/CN=Mbed TLS URI SAN"
+
+rsa_multiple_san_uri.crt.der: rsa_multiple_san_uri.key
+	$(OPENSSL) req -x509 -outform der -nodes -days 7300 -newkey rsa:2048 -key $< -out $@ -addext "subjectAltName = URI:urn:example.com:5ff40f78-9210-494f-8206-c2c082f0609c, URI:urn:example.com:5ff40f78-9210-494f-8206-abcde1234567" -extensions 'v3_req' -subj "/C=UK/O=Mbed TLS/CN=Mbed TLS URI SAN"
+
 server10-badsign.crt: server10.crt
 	{ head -n-2 $<; tail -n-2 $< | sed -e '1s/0\(=*\)$$/_\1/' -e '1s/[^_=]\(=*\)$$/0\1/' -e '1s/_/1/'; } > $@
 all_final += server10-badsign.crt
diff --git a/tests/data_files/rsa_multiple_san_uri.crt.der b/tests/data_files/rsa_multiple_san_uri.crt.der
new file mode 100644
index 0000000000..ac5fab2932
Binary files /dev/null and b/tests/data_files/rsa_multiple_san_uri.crt.der differ
diff --git a/tests/data_files/rsa_multiple_san_uri.key b/tests/data_files/rsa_multiple_san_uri.key
new file mode 100644
index 0000000000..c8c3492bb5
--- /dev/null
+++ b/tests/data_files/rsa_multiple_san_uri.key
@@ -0,0 +1,28 @@
+-----BEGIN PRIVATE KEY-----
+MIIEvQIBADANBgkqhkiG9w0BAQEFAASCBKcwggSjAgEAAoIBAQCxc5q8z8XR6vH2
+1Ko29Mk3dOKpSOrX9Tb5HtmCQMoKIxnTUQrNkVeOQtiQt6XZo05cbA6Z87kWDgGJ
+P/5Lxofrx13Rp1xZzZ+0AAPfvUCY5tzZwmicQWvu9st6JwTyaLTCzSt0cPTUs5Hi
+hJt9RzSW6GTk5ANjjgoewOMhwh5f84JRURJ2INZjz4namBGe/9f14ZHxKWuxl5in
++z582rSEhLXrPLbaKjT3Jphff51xsusC+pP0xNqkAcrGJ+/Jk0Vk6ClRCd40ZcTB
+4SkOqsZ8/uGWnradkrN74PoMMnSKKOuxlsVMPfzMkrlMbuazO4nK/osTAnoSqMUv
+COBdXkTtAgMBAAECggEANVlTIQa6K3UeD546GlGXmQOcDVbtu8VuJJFgxScjVs7c
+uco4nDrg/tUb9M4xn2/YZDLcZO6AK6BEV/YURsXGIV2L2DcfraQDKoOCpqZoIE/v
+/8vR1YBZqbsqy2ulshdGmPZD5Tr8cGIYLui9MnnQ1rnBc4sVdb3DTyGgZ4rLxP6X
+0BoHw+LQA0wwSbE/NW71qmeDSEDkSkUQISVg6Rp06U0PZaJAWtYoBNKGAsDGAhjc
+vVTXE5B9d+3yOM0InCWFsM/bUvaUv/yxxTcZnVq9Lji3KwDhy63F99pUaFnV6Rf2
+3CKO3VHegWSwMcnYaBbufDqWPHuEDSlZ0nRhrbrKRQKBgQD6dQd0xPHfxIz5l+AC
+1kPHIsUKPEirrJKTVHlxQwT0yVpD+yUkF95HY6NgHVHKnRP9qicqr3raIfA01VQc
+y+lhXo6xUAqYsKvB9m4njERFWMTCVSVU30Klhic/s4R/1abKlvkax1SiQFIRStqC
+onsZ0M1Isw69/I8Yha3mzv/gvwKBgQC1YPXnd5dZmdbe0UibBWjU5X6AQGt+oxL+
++6EP3EfuRmYI3i3r2bdbB3ELd95f8tgV0UagmjQfFoigBsuRfbhrQEPSHMBWYpAV
++TZKxUvmpJXwLEgxcPv7VTTvxw0qL1u1s/dX6WBfEOUgVzPgcp+IJGEr1MZekTqt
+P65coDpZUwKBgAmrLuiBGd1Lly2jgVBauS8c1oJ4pU2LUfVCE5Ydwjk49LUfIuXr
+zfbvj8UMHLY3rifiw7RQJev5124StjaOYKoTnmqV7nLKjzbjroj0T0ZmEOJ3qwNF
+wyrkrOs2oOzWcKPthBxWiZvh48krHJhicWIjv2kJEI6hC10k+/unDhW9AoGAZyRg
+MeRb+OP2wHaapy0IVCi9Kwl3F2h8oOtOx8ooTWNTGq/dxUTlc6pjqnXbyww5vQ5o
+72NBSHxz7SxwDqhDexnsd0tKRNV/wj8ZlKNlah8l9JH568OoR2BI3iF/ZwHPUSCq
+Ax//YZAl+6IbKgOEnNKzP02cEKLdjy+rY5jqFWkCgYEAmEl4mg1IGoVDM6d3iIPP
+JLz5DghV8kP++99vFrJx07D6e/uhzojR73Ye+fq69Vy0yjGXpaRPwwHfvPzDA1hm
+ir7rJWsbbskR+iTn2yKvIpB1wBI1u0SQ4lnJ1ZIVJPVlh4yA29JvPT7/7/2nQ/s6
+v0N2oKrfaiKc7BjCz3eYW4Q=
+-----END PRIVATE KEY-----
diff --git a/tests/data_files/rsa_single_san_uri.crt.der b/tests/data_files/rsa_single_san_uri.crt.der
new file mode 100644
index 0000000000..22308c6f45
Binary files /dev/null and b/tests/data_files/rsa_single_san_uri.crt.der differ
diff --git a/tests/data_files/rsa_single_san_uri.key b/tests/data_files/rsa_single_san_uri.key
new file mode 100644
index 0000000000..bb6c0ca6bb
--- /dev/null
+++ b/tests/data_files/rsa_single_san_uri.key
@@ -0,0 +1,28 @@
+-----BEGIN PRIVATE KEY-----
+MIIEvQIBADANBgkqhkiG9w0BAQEFAASCBKcwggSjAgEAAoIBAQCng06zdlkhYiBK
+43H+cK+vkHYvvRA2RtWbLMw+9rV9IrdGQ+iQQ/X1SZfDl2hWUiKTpabcuGYzY38H
+lXW4UXwTB36KEe7G3yF/fbvYzNsdUCAVOzNs/0EMvXJeD/Dm5CBMEsG6V0ovHmkc
+c80fQYQiSxgjpWyRpKdP+z/2imGph9onuu7EWOpAXGArozlLL5OixQ2dmutsc5ap
+hfgwq6za00uKsFifolRtAhiH86N0vjiAJkzZR83uBlI285sj5+EzRrtjVv+kgsLW
+gLDlj3bgsuKQDfxWhe+mpy2PIJ41kqktCz1qew3wyHI2ysE+6htHYQMNbCtkRMdX
+/4t1yx95AgMBAAECggEAIIhn6IK7nLgp/WFe6kOIW1h7G5pkY6YuJgz1PeU8Kilr
+3sGhkSMhyZmZV+s34EvjWzl4xrUpZCGWsipcyodIyYlTEg2ZihYbs17/9IMUqwS8
+tmLhAfIw+ABzDcGaz7zOaPfbmA0L40rMrzHuTHu05dQfxAyEoWSQ+f+Z1I/bl8jy
+GdXQVtqZzqJcWXbXt+3+B4f2/d7K5xzb7lv/8zhAf/zoG9srMByPa6/Do5rVas5Q
+NmzJPwXngxE5dJcHsWU4FkHbSbJj0khW858MJ4o5Ddw5ZOPimqlcmpClb01wCdXf
+13o2ozKGE/xq3InU7MA4ad0tLMdEM8R7yhUZ9Xe/gQKBgQDYXt4BhiamnSl1tHR8
+MiiyzkcZuVH04/A6FsnUhcbQF9iCqO9szw50k0z7DVIGS9dSY9kmMdEcpsX6m2XC
+XfEsxHBm0wmJqLUGq3UzM6oDsyZG1fkTg+eMzbVO0sv4xdhJLPpmsck5yJ8t0TxB
+8gIS9yNEw7+w6rZhgSRsMT+WhQKBgQDGMZ0qIdFi1Ae7ueTcBCe+cjgmTG9nXq6+
+qRokU63rPP9y8XTVD6hRmviMRl4skt0F39yGJ7janIQnOBrf2DVEX4Mcf0sY4vDJ
+msDV5jkbzgbAEas0ejO4h+dpRqa4mUiU1JR/Pb1jZHNOg7ZfTw45WPqBGsLTEpAt
+OsKVUgbZZQKBgCIe+8WjwS6fNC2SspfvVQm1i/Lbjbgfxf9zHor8ObkROZyJRZCU
+KoRpwkcI97l0dlVQ16q1SnPJPQljPi3joKfdppggia2CxGFz4nybliEVPGEJV0kj
+kP1cZ04x4eauVIhdpnNRcBlDsQ6Jo4YGwxr4jEBI2k7tBKvlsLe7IHr9AoGAeJmi
+IAwaBIAvAH16lKL2qD2Ki0uBkq4buSrfHHHK59TjQEdLJ4byjk21pm3/SjJHyhZR
+c1TieCw7gj3ypHlE2IkiGAohYVBe4t6HLuF7qL6yfteBjVo69LPGDdqPAs9LSj0c
+61xfTQbH32PoapCJgD3zmPH20Ud/cfZKh2A1iL0CgYEAwQgGxHVo+/d3BhLQvQHt
+64fE+qrZA5oWWwBh8EzR+98eOnDCF3Gm6chrEs9boOzlwxr9LU4TgiBnpyYrQCEw
+AdOA9dhYz91d+chJZjKo635Y9byN9rutr3/EfqZLxWL73k1y5LNAYL+jyAab0Jsw
+l2xG6PNj5rItkgO3j50qA7s=
+-----END PRIVATE KEY-----
diff --git a/tests/suites/test_suite_x509parse.data b/tests/suites/test_suite_x509parse.data
index 01da08b54c..961b25ac1e 100644
--- a/tests/suites/test_suite_x509parse.data
+++ b/tests/suites/test_suite_x509parse.data
@@ -122,6 +122,14 @@ X509 CRT information, Subject Alt Name + Key Usage
 depends_on:MBEDTLS_PEM_PARSE_C:MBEDTLS_RSA_C:MBEDTLS_HAS_ALG_SHA_1_VIA_MD_OR_PSA_BASED_ON_USE_PSA
 x509_cert_info:"data_files/cert_example_multi_nocn.crt":"cert. version     \: 3\nserial number     \: F7\:C6\:7F\:F8\:E9\:A9\:63\:F9\nissuer name       \: C=NL\nsubject name      \: C=NL\nissued  on        \: 2014-01-22 10\:04\:33\nexpires on        \: 2024-01-22 10\:04\:33\nsigned using      \: RSA with SHA1\nRSA key size      \: 1024 bits\nbasic constraints \: CA=false\nsubject alt name  \:\n    dNSName \: www.shotokan-braunschweig.de\n    dNSName \: www.massimo-abate.eu\n    <unsupported>\n    <unsupported>\nkey usage         \: Digital Signature, Non Repudiation, Key Encipherment\n"
 
+X509 CRT information, Subject Alt Name with uniformResourceIdentifier
+depends_on:MBEDTLS_RSA_C:MBEDTLS_HAS_ALG_SHA_256_VIA_MD_OR_PSA_BASED_ON_USE_PSA
+x509_cert_info:"data_files/rsa_single_san_uri.crt.der":"cert. version     \: 3\nserial number     \: 6F\:75\:EB\:E9\:6D\:25\:BC\:88\:82\:62\:A3\:E0\:68\:A7\:37\:3B\:EC\:75\:8F\:9C\nissuer name       \: C=UK, O=Mbed TLS, CN=Mbed TLS URI SAN\nsubject name      \: C=UK, O=Mbed TLS, CN=Mbed TLS URI SAN\nissued  on        \: 2023-02-14 10\:38\:05\nexpires on        \: 2043-02-09 10\:38\:05\nsigned using      \: RSA with SHA-256\nRSA key size      \: 2048 bits\nbasic constraints \: CA=false\nsubject alt name  \:\n    uniformResourceIdentifier \: urn\:example.com\:5ff40f78-9210-494f-8206-c2c082f0609c\nkey usage         \: Digital Signature, Non Repudiation, Key Encipherment\n"
+
+X509 CRT information, Subject Alt Name with two uniformResourceIdentifiers
+depends_on:MBEDTLS_RSA_C:MBEDTLS_HAS_ALG_SHA_256_VIA_MD_OR_PSA_BASED_ON_USE_PSA
+x509_cert_info:"data_files/rsa_multiple_san_uri.crt.der":"cert. version     \: 3\nserial number     \: 08\:E2\:93\:18\:91\:26\:D8\:46\:88\:90\:10\:4F\:B5\:86\:CB\:C4\:78\:E6\:EA\:0D\nissuer name       \: C=UK, O=Mbed TLS, CN=Mbed TLS URI SAN\nsubject name      \: C=UK, O=Mbed TLS, CN=Mbed TLS URI SAN\nissued  on        \: 2023-02-14 10\:37\:50\nexpires on        \: 2043-02-09 10\:37\:50\nsigned using      \: RSA with SHA-256\nRSA key size      \: 2048 bits\nbasic constraints \: CA=false\nsubject alt name  \:\n    uniformResourceIdentifier \: urn\:example.com\:5ff40f78-9210-494f-8206-c2c082f0609c\n    uniformResourceIdentifier \: urn\:example.com\:5ff40f78-9210-494f-8206-abcde1234567\nkey usage         \: Digital Signature, Non Repudiation, Key Encipherment\n"
+
 X509 CRT information, RSA Certificate Policy any
 depends_on:MBEDTLS_PEM_PARSE_C:MBEDTLS_RSA_C:MBEDTLS_HAS_ALG_SHA_256_VIA_MD_OR_PSA_BASED_ON_USE_PSA
 x509_cert_info:"data_files/test-ca-any_policy.crt":"cert. version     \: 3\nserial number     \: 00\nissuer name       \: C=NL, O=PolarSSL, CN=PolarSSL Test CA\nsubject name      \: C=NL, O=PolarSSL, CN=PolarSSL Test CA\nissued  on        \: 2019-03-21 16\:40\:59\nexpires on        \: 2029-03-21 16\:40\:59\nsigned using      \: RSA with SHA-256\nRSA key size      \: 2048 bits\nbasic constraints \: CA=true\ncertificate policies \: Any Policy\n"