diff --git a/tests/psa-client-server/psasim/src/aut_main.c b/tests/psa-client-server/psasim/src/aut_main.c
index b0f96bee8b..f0cd1a09b3 100644
--- a/tests/psa-client-server/psasim/src/aut_main.c
+++ b/tests/psa-client-server/psasim/src/aut_main.c
@@ -27,6 +27,7 @@ int psa_random_main(void);
 int psa_mac_main(void);
 int psa_key_agreement_main(void);
 int psa_sign_verify_main(void);
+int psa_hkdf_main(void);
 
 #define TEST_MODULE(main_func) \
     do {    \
@@ -59,6 +60,7 @@ int main()
     TEST_MODULE(psa_key_agreement_main());
     TEST_MODULE(psa_sign_verify_main());
     TEST_MODULE(psa_aead_encrypt_decrypt_main());
+    TEST_MODULE(psa_hkdf_main());
 
 exit:
     return (ret != 0) ? 1 : 0;
diff --git a/tests/psa-client-server/psasim/src/aut_psa_hkdf.c b/tests/psa-client-server/psasim/src/aut_psa_hkdf.c
new file mode 100644
index 0000000000..891fdb3f92
--- /dev/null
+++ b/tests/psa-client-server/psasim/src/aut_psa_hkdf.c
@@ -0,0 +1,121 @@
+/*
+ *  Copyright The Mbed TLS Contributors
+ *  SPDX-License-Identifier: Apache-2.0 OR GPL-2.0-or-later
+ */
+
+#include "psa/crypto.h"
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include "mbedtls/build_info.h"
+
+int psa_hkdf_main(void)
+{
+    psa_status_t status;
+    psa_key_attributes_t attributes = PSA_KEY_ATTRIBUTES_INIT;
+    psa_key_id_t key_id = 0;
+    psa_key_derivation_operation_t operation = PSA_KEY_DERIVATION_OPERATION_INIT;
+
+    /* Example test vector from RFC 5869 */
+
+    /* Input keying material (IKM) */
+    unsigned char ikm[] = { 0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b,
+                            0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b, 0x0b };
+
+    unsigned char salt[] =
+    { 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0c };
+
+    /* Context and application specific information, which can be of zero length */
+    unsigned char info[] = { 0xf0, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8, 0xf9 };
+
+    /* Expected OKM based on the RFC 5869-provided test vector */
+    unsigned char expected_okm[] = { 0x3c, 0xb2, 0x5f, 0x25, 0xfa, 0xac, 0xd5, 0x7a, 0x90, 0x43,
+                                     0x4f, 0x64, 0xd0, 0x36, 0x2f, 0x2a, 0x2d, 0x2d, 0x0a, 0x90,
+                                     0xcf, 0x1a, 0x5a, 0x4c, 0x5d, 0xb0, 0x2d, 0x56, 0xec, 0xc4,
+                                     0xc5, 0xbf, 0x34, 0x00, 0x72, 0x08, 0xd5, 0xb8, 0x87, 0x18,
+                                     0x58, 0x65 };
+
+    /* The output size of the HKDF function depends on the hash function used.
+     * In our case we use SHA-256, which produces a 32 byte fingerprint.
+     * Therefore, we allocate a buffer of 32 bytes to hold the output keying
+     * material (OKM).
+     */
+    unsigned char output[32];
+
+    psa_algorithm_t alg = PSA_ALG_HKDF(PSA_ALG_SHA_256);
+
+    printf("PSA Crypto API: HKDF SHA-256 example\n\n");
+
+    status = psa_crypto_init();
+    if (status != PSA_SUCCESS) {
+        printf("psa_crypto_init failed\n");
+        return EXIT_FAILURE;
+    }
+
+    psa_set_key_usage_flags(&attributes, PSA_KEY_USAGE_DERIVE);
+    psa_set_key_algorithm(&attributes, PSA_ALG_HKDF(PSA_ALG_SHA_256));
+    psa_set_key_type(&attributes, PSA_KEY_TYPE_DERIVE);
+
+    status = psa_import_key(&attributes, ikm, sizeof(ikm), &key_id);
+    if (status != PSA_SUCCESS) {
+        printf("psa_import_key failed\n");
+        return EXIT_FAILURE;
+    }
+
+    status = psa_key_derivation_setup(&operation, alg);
+    if (status != PSA_SUCCESS) {
+        printf("psa_key_derivation_setup failed");
+        return EXIT_FAILURE;
+    }
+
+    status = psa_key_derivation_input_bytes(&operation, PSA_KEY_DERIVATION_INPUT_SALT,
+                                            salt, sizeof(salt));
+    if (status != PSA_SUCCESS) {
+        printf("psa_key_derivation_input_bytes (salt) failed");
+        return EXIT_FAILURE;
+    }
+
+    status = psa_key_derivation_input_key(&operation, PSA_KEY_DERIVATION_INPUT_SECRET,
+                                          key_id);
+    if (status != PSA_SUCCESS) {
+        printf("psa_key_derivation_input_key failed");
+        return EXIT_FAILURE;
+    }
+
+    status = psa_key_derivation_input_bytes(&operation, PSA_KEY_DERIVATION_INPUT_INFO,
+                                            info, sizeof(info));
+    if (status != PSA_SUCCESS) {
+        printf("psa_key_derivation_input_bytes (info) failed");
+        return EXIT_FAILURE;
+    }
+
+    status = psa_key_derivation_output_bytes(&operation, output, sizeof(output));
+    if (status != PSA_SUCCESS) {
+        printf("psa_key_derivation_output_bytes failed");
+        return EXIT_FAILURE;
+    }
+
+    status = psa_key_derivation_abort(&operation);
+    if (status != PSA_SUCCESS) {
+        printf("psa_key_derivation_abort failed");
+        return EXIT_FAILURE;
+    }
+
+    printf("OKM: \n");
+
+    for (size_t j = 0; j < sizeof(output); j++) {
+        if (output[j] != expected_okm[j]) {
+            printf("\n --- Unexpected outcome!\n");
+            return EXIT_FAILURE;
+        }
+
+        if (j % 8 == 0) {
+            printf("\n    ");
+        }
+        printf("%02x ", output[j]);
+    }
+
+    printf("\n");
+    mbedtls_psa_crypto_free();
+    return EXIT_SUCCESS;
+}