diff --git a/.gitignore b/.gitignore
index 0792920..26986d6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -41,6 +41,9 @@
 # Generated documentation:
 /apidoc
 
+# PSA Crypto compliance test repo, cloned by test_psa_compliance.py
+/psa-arch-tests
+
 # Editor navigation files:
 /GPATH
 /GRTAGS
diff --git a/library/psa_crypto.c b/library/psa_crypto.c
index d713ac8..7591b6b 100644
--- a/library/psa_crypto.c
+++ b/library/psa_crypto.c
@@ -4763,6 +4763,9 @@
     if( psa_get_key_bits( attributes ) == 0 )
         return( PSA_ERROR_INVALID_ARGUMENT );
 
+    if( operation->alg == PSA_ALG_NONE )
+        return( PSA_ERROR_BAD_STATE );
+
     if( ! operation->can_output_key )
         return( PSA_ERROR_NOT_PERMITTED );
 
diff --git a/programs/ssl/ssl_client2.c b/programs/ssl/ssl_client2.c
index 29bda7f..cb299b1 100644
--- a/programs/ssl/ssl_client2.c
+++ b/programs/ssl/ssl_client2.c
@@ -21,6 +21,10 @@
 
 #include "ssl_test_lib.h"
 
+#if defined(MBEDTLS_USE_PSA_CRYPTO)
+#include "test/psa_crypto_helpers.h"
+#endif
+
 #if defined(MBEDTLS_SSL_TEST_IMPOSSIBLE)
 int main( void )
 {
@@ -3015,6 +3019,19 @@
 
     mbedtls_net_free( &server_fd );
 
+    mbedtls_ssl_free( &ssl );
+    mbedtls_ssl_config_free( &conf );
+    mbedtls_ssl_session_free( &saved_session );
+
+    if( session_data != NULL )
+        mbedtls_platform_zeroize( session_data, session_data_len );
+    mbedtls_free( session_data );
+#if defined(MBEDTLS_SSL_CONTEXT_SERIALIZATION)
+    if( context_buf != NULL )
+        mbedtls_platform_zeroize( context_buf, context_buf_len );
+    mbedtls_free( context_buf );
+#endif
+
 #if defined(MBEDTLS_X509_CRT_PARSE_C)
     mbedtls_x509_crt_free( &clicert );
     mbedtls_x509_crt_free( &cacert );
@@ -3045,23 +3062,25 @@
 #endif /* MBEDTLS_KEY_EXCHANGE_SOME_PSK_ENABLED &&
           MBEDTLS_USE_PSA_CRYPTO */
 
-    mbedtls_ssl_session_free( &saved_session );
-    mbedtls_ssl_free( &ssl );
-    mbedtls_ssl_config_free( &conf );
-    rng_free( &rng );
-    if( session_data != NULL )
-        mbedtls_platform_zeroize( session_data, session_data_len );
-    mbedtls_free( session_data );
-#if defined(MBEDTLS_SSL_CONTEXT_SERIALIZATION)
-    if( context_buf != NULL )
-        mbedtls_platform_zeroize( context_buf, context_buf_len );
-    mbedtls_free( context_buf );
-#endif
-
 #if defined(MBEDTLS_USE_PSA_CRYPTO)
+    const char* message = mbedtls_test_helper_is_psa_leaking();
+    if( message )
+    {
+        if( ret == 0 )
+            ret = 1;
+        mbedtls_printf( "PSA memory leak detected: %s\n",  message);
+    }
+#endif /* MBEDTLS_USE_PSA_CRYPTO */
+
+    /* For builds with MBEDTLS_TEST_USE_PSA_CRYPTO_RNG psa crypto
+     * resources are freed by rng_free(). */
+#if defined(MBEDTLS_USE_PSA_CRYPTO) && \
+    !defined(MBEDTLS_TEST_USE_PSA_CRYPTO_RNG)
     mbedtls_psa_crypto_free( );
 #endif
 
+    rng_free( &rng );
+
 #if defined(MBEDTLS_TEST_HOOKS)
     if( test_hooks_failure_detected( ) )
     {
diff --git a/programs/ssl/ssl_server2.c b/programs/ssl/ssl_server2.c
index 4d785d7..0e6f78b 100644
--- a/programs/ssl/ssl_server2.c
+++ b/programs/ssl/ssl_server2.c
@@ -65,6 +65,10 @@
 #include <windows.h>
 #endif
 
+#if defined(MBEDTLS_USE_PSA_CRYPTO)
+#include "test/psa_crypto_helpers.h"
+#endif
+
 /* Size of memory to be allocated for the heap, when using the library's memory
  * management and MBEDTLS_MEMORY_BUFFER_ALLOC_C is enabled. */
 #define MEMORY_HEAP_SIZE        120000
@@ -3947,9 +3951,35 @@
     mbedtls_net_free( &client_fd );
     mbedtls_net_free( &listen_fd );
 
-#if defined(MBEDTLS_DHM_C) && defined(MBEDTLS_FS_IO)
-    mbedtls_dhm_free( &dhm );
+    mbedtls_ssl_free( &ssl );
+    mbedtls_ssl_config_free( &conf );
+
+#if defined(MBEDTLS_SSL_CACHE_C)
+    mbedtls_ssl_cache_free( &cache );
 #endif
+#if defined(MBEDTLS_SSL_SESSION_TICKETS)
+    mbedtls_ssl_ticket_free( &ticket_ctx );
+#endif
+#if defined(MBEDTLS_SSL_COOKIE_C)
+    mbedtls_ssl_cookie_free( &cookie_ctx );
+#endif
+
+#if defined(MBEDTLS_SSL_CONTEXT_SERIALIZATION)
+    if( context_buf != NULL )
+        mbedtls_platform_zeroize( context_buf, context_buf_len );
+    mbedtls_free( context_buf );
+#endif
+
+#if defined(SNI_OPTION)
+    sni_free( sni_info );
+#endif
+
+#if defined(MBEDTLS_KEY_EXCHANGE_SOME_PSK_ENABLED)
+    ret = psk_free( psk_info );
+    if( ( ret != 0 ) && ( opt.query_config_mode == DFL_QUERY_CONFIG_MODE ) )
+        mbedtls_printf( "Failed to list of opaque PSKs - error was %d\n", ret );
+#endif
+
 #if defined(MBEDTLS_X509_CRT_PARSE_C)
     mbedtls_x509_crt_free( &cacert );
     mbedtls_x509_crt_free( &srvcert );
@@ -3961,6 +3991,11 @@
     psa_destroy_key( key_slot2 );
 #endif
 #endif
+
+#if defined(MBEDTLS_DHM_C) && defined(MBEDTLS_FS_IO)
+    mbedtls_dhm_free( &dhm );
+#endif
+
 #if defined(MBEDTLS_SSL_ASYNC_PRIVATE)
     for( i = 0; (size_t) i < ssl_async_keys.slots_used; i++ )
     {
@@ -3972,17 +4007,6 @@
         }
     }
 #endif
-#if defined(SNI_OPTION)
-    sni_free( sni_info );
-#endif
-#if defined(MBEDTLS_KEY_EXCHANGE_SOME_PSK_ENABLED)
-    ret = psk_free( psk_info );
-    if( ( ret != 0 ) && ( opt.query_config_mode == DFL_QUERY_CONFIG_MODE ) )
-        mbedtls_printf( "Failed to list of opaque PSKs - error was %d\n", ret );
-#endif
-#if defined(MBEDTLS_DHM_C) && defined(MBEDTLS_FS_IO)
-    mbedtls_dhm_free( &dhm );
-#endif
 
 #if defined(MBEDTLS_KEY_EXCHANGE_SOME_PSK_ENABLED) && \
     defined(MBEDTLS_USE_PSA_CRYPTO)
@@ -4003,32 +4027,27 @@
 #endif /* MBEDTLS_KEY_EXCHANGE_SOME_PSK_ENABLED &&
           MBEDTLS_USE_PSA_CRYPTO */
 
-    mbedtls_ssl_free( &ssl );
-    mbedtls_ssl_config_free( &conf );
-    rng_free( &rng );
-
-#if defined(MBEDTLS_SSL_CACHE_C)
-    mbedtls_ssl_cache_free( &cache );
-#endif
-#if defined(MBEDTLS_SSL_SESSION_TICKETS)
-    mbedtls_ssl_ticket_free( &ticket_ctx );
-#endif
-#if defined(MBEDTLS_SSL_COOKIE_C)
-    mbedtls_ssl_cookie_free( &cookie_ctx );
-#endif
-
-    mbedtls_free( buf );
-
-#if defined(MBEDTLS_SSL_CONTEXT_SERIALIZATION)
-    if( context_buf != NULL )
-        mbedtls_platform_zeroize( context_buf, context_buf_len );
-    mbedtls_free( context_buf );
-#endif
-
 #if defined(MBEDTLS_USE_PSA_CRYPTO)
+    const char* message = mbedtls_test_helper_is_psa_leaking();
+    if( message )
+    {
+        if( ret == 0 )
+            ret = 1;
+        mbedtls_printf( "PSA memory leak detected: %s\n",  message);
+    }
+#endif
+
+    /* For builds with MBEDTLS_TEST_USE_PSA_CRYPTO_RNG psa crypto
+     * resources are freed by rng_free(). */
+#if defined(MBEDTLS_USE_PSA_CRYPTO) && \
+    !defined(MBEDTLS_TEST_USE_PSA_CRYPTO_RNG)
     mbedtls_psa_crypto_free( );
 #endif
 
+    rng_free( &rng );
+
+    mbedtls_free( buf );
+
 #if defined(MBEDTLS_TEST_HOOKS)
     /* Let test hooks detect errors such as resource leaks.
      * Don't do it in query_config mode, because some test code prints
diff --git a/tests/include/test/psa_crypto_helpers.h b/tests/include/test/psa_crypto_helpers.h
index 8a8c37e..f5622e2 100644
--- a/tests/include/test/psa_crypto_helpers.h
+++ b/tests/include/test/psa_crypto_helpers.h
@@ -28,7 +28,6 @@
 #include "test/psa_helpers.h"
 
 #include <psa/crypto.h>
-#include <psa_crypto_slot_management.h>
 
 #if defined(MBEDTLS_USE_PSA_CRYPTO)
 #include "mbedtls/psa_util.h"
diff --git a/tests/scripts/all.sh b/tests/scripts/all.sh
index c148cf1..241b1b6 100755
--- a/tests/scripts/all.sh
+++ b/tests/scripts/all.sh
@@ -2769,6 +2769,26 @@
     unset gdb_disable_aslr
 }
 
+component_test_psa_compliance () {
+    msg "build: make, default config (out-of-box), libmbedcrypto.a only"
+    make -C library libmbedcrypto.a
+
+    msg "unit test: test_psa_compliance.py"
+    ./tests/scripts/test_psa_compliance.py
+}
+
+support_test_psa_compliance () {
+    # psa-compliance-tests only supports CMake >= 3.10.0
+    ver="$(cmake --version)"
+    ver="${ver#cmake version }"
+    ver_major="${ver%%.*}"
+
+    ver="${ver#*.}"
+    ver_minor="${ver%%.*}"
+
+    [ "$ver_major" -eq 3 ] && [ "$ver_minor" -ge 10 ]
+}
+
 component_check_python_files () {
     msg "Lint: Python scripts"
     tests/scripts/check-python-files.sh
diff --git a/tests/scripts/test_psa_compliance.py b/tests/scripts/test_psa_compliance.py
new file mode 100755
index 0000000..11b0c6a
--- /dev/null
+++ b/tests/scripts/test_psa_compliance.py
@@ -0,0 +1,151 @@
+#!/usr/bin/env python3
+"""Run the PSA Cryto API compliance test suite.
+Clone the repo and check out the commit specified by PSA_ARCH_TEST_REPO and PSA_ARCH_TEST_REF,
+then complie and run the test suite. The clone is stored at <Mbed TLS root>/psa-arch-tests.
+Known defects in either the test suite or mbedtls - identified by their test number - are ignored,
+while unexpected failures AND successes are reported as errors,
+to help keep the list of known defects as up to date as possible.
+"""
+
+# Copyright The Mbed TLS Contributors
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License"); you may
+# not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import re
+import shutil
+import subprocess
+import sys
+
+# PSA Compliance tests we expect to fail due to known defects in Mbed TLS (or the test suite)
+# The test numbers correspond to the numbers used by the console output of the test suite.
+# Test number 2xx corresponds to the files in the folder
+# psa-arch-tests/api-tests/dev_apis/crypto/test_c0xx
+EXPECTED_FAILURES = {
+    # psa_aead_[encrypt/decrypt]() returns PSA_ERROR_NOT_SUPPORTED instead of
+    # PSA_ERROR_INVALID_ARGUMENT when called with an invalid nonce.
+    # - Tracked in issue #5144
+    224, 225,
+
+    # Multipart CCM is not supported.
+    # - Tracked in issue #3721
+    252, 253, 254, 255, 256, 257, 258, 259, 261,
+
+    # psa_hash_suspend() and psa_hash_resume() are not supported.
+    # - Tracked in issue #3274
+    262, 263
+}
+
+# We currently use a fork of ARM-software/psa-arch-tests, with a couple of downstream patches
+# that allow it to build with MbedTLS 3, and fixes a couple of issues in the compliance test suite.
+# These fixes allow the tests numbered 216, 248 and 249 to complete successfully.
+#
+# Once all the fixes are upstreamed, this fork should be replaced with an upstream commit/tag.
+# - Tracked in issue #5145
+#
+# Web URL: https://github.com/bensze01/psa-arch-tests/tree/fixes-for-mbedtls-3
+PSA_ARCH_TESTS_REPO = 'https://github.com/bensze01/psa-arch-tests.git'
+PSA_ARCH_TESTS_REF = 'fixes-for-mbedtls-3'
+
+#pylint: disable=too-many-branches,too-many-statements
+def main():
+    mbedtls_dir = os.getcwd()
+
+    if not os.path.exists('library/libmbedcrypto.a'):
+        subprocess.check_call(['make', '-C', 'library', 'libmbedcrypto.a'])
+
+    psa_arch_tests_dir = 'psa-arch-tests'
+    os.makedirs(psa_arch_tests_dir, exist_ok=True)
+    try:
+        os.chdir(psa_arch_tests_dir)
+
+        # Reuse existing local clone
+        subprocess.check_call(['git', 'init'])
+        subprocess.check_call(['git', 'fetch', PSA_ARCH_TESTS_REPO, PSA_ARCH_TESTS_REF])
+        subprocess.check_call(['git', 'checkout', 'FETCH_HEAD'])
+
+        build_dir = 'api-tests/build'
+        try:
+            shutil.rmtree(build_dir)
+        except FileNotFoundError:
+            pass
+        os.mkdir(build_dir)
+        os.chdir(build_dir)
+
+        #pylint: disable=bad-continuation
+        subprocess.check_call([
+            'cmake', '..',
+                     '-GUnix Makefiles',
+                     '-DTARGET=tgt_dev_apis_stdc',
+                     '-DTOOLCHAIN=HOST_GCC',
+                     '-DSUITE=CRYPTO',
+                     '-DPSA_CRYPTO_LIB_FILENAME={}/library/libmbedcrypto.a'.format(mbedtls_dir),
+                     '-DPSA_INCLUDE_PATHS={}/include'.format(mbedtls_dir)
+        ])
+        subprocess.check_call(['cmake', '--build', '.'])
+
+        proc = subprocess.Popen(['./psa-arch-tests-crypto'],
+                                bufsize=1, stdout=subprocess.PIPE, universal_newlines=True)
+
+        test_re = re.compile(
+            '^TEST: (?P<test_num>[0-9]*)|'
+            '^TEST RESULT: (?P<test_result>FAILED|PASSED)'
+        )
+        test = -1
+        unexpected_successes = set(EXPECTED_FAILURES)
+        expected_failures = []
+        unexpected_failures = []
+        for line in proc.stdout:
+            print(line, end='')
+            match = test_re.match(line)
+            if match is not None:
+                groupdict = match.groupdict()
+                test_num = groupdict['test_num']
+                if test_num is not None:
+                    test = int(test_num)
+                elif groupdict['test_result'] == 'FAILED':
+                    try:
+                        unexpected_successes.remove(test)
+                        expected_failures.append(test)
+                        print('Expected failure, ignoring')
+                    except KeyError:
+                        unexpected_failures.append(test)
+                        print('ERROR: Unexpected failure')
+                elif test in unexpected_successes:
+                    print('ERROR: Unexpected success')
+        proc.wait()
+
+        print()
+        print('***** test_psa_compliance.py report ******')
+        print()
+        print('Expected failures:', ', '.join(str(i) for i in expected_failures))
+        print('Unexpected failures:', ', '.join(str(i) for i in unexpected_failures))
+        print('Unexpected successes:', ', '.join(str(i) for i in sorted(unexpected_successes)))
+        print()
+        if unexpected_successes or unexpected_failures:
+            if unexpected_successes:
+                print('Unexpected successes encountered.')
+                print('Please remove the corresponding tests from '
+                      'EXPECTED_FAILURES in tests/scripts/compliance_test.py')
+                print()
+            print('FAILED')
+            return 1
+        else:
+            print('SUCCESS')
+            return 0
+    finally:
+        os.chdir(mbedtls_dir)
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/tests/src/psa_crypto_helpers.c b/tests/src/psa_crypto_helpers.c
index d9d841a..299b6d1 100644
--- a/tests/src/psa_crypto_helpers.c
+++ b/tests/src/psa_crypto_helpers.c
@@ -22,6 +22,7 @@
 
 #include <test/helpers.h>
 #include <test/macros.h>
+#include <psa_crypto_slot_management.h>
 #include <test/psa_crypto_helpers.h>
 
 #if defined(MBEDTLS_PSA_CRYPTO_C)
diff --git a/tests/src/psa_exercise_key.c b/tests/src/psa_exercise_key.c
index 91bac67..fc58fbd 100644
--- a/tests/src/psa_exercise_key.c
+++ b/tests/src/psa_exercise_key.c
@@ -29,6 +29,7 @@
 #include <psa/crypto.h>
 
 #include <test/asn1_helpers.h>
+#include <psa_crypto_slot_management.h>
 #include <test/psa_crypto_helpers.h>
 
 #if defined(MBEDTLS_PSA_CRYPTO_SE_C)
diff --git a/tests/suites/test_suite_psa_crypto.data b/tests/suites/test_suite_psa_crypto.data
index 6dbf18c..9060159 100644
--- a/tests/suites/test_suite_psa_crypto.data
+++ b/tests/suites/test_suite_psa_crypto.data
@@ -4262,7 +4262,7 @@
 depends_on:PSA_WANT_ALG_HKDF:PSA_WANT_ALG_SHA_256
 # Whether we get NOT_PERMITTED or BAD_STATE for the output is an implementation
 # detail.
-derive_input:PSA_ALG_HKDF(PSA_ALG_SHA_256):PSA_KEY_DERIVATION_INPUT_SALT:PSA_KEY_TYPE_NONE:"":PSA_SUCCESS:PSA_KEY_DERIVATION_INPUT_SECRET:PSA_KEY_TYPE_RAW_DATA:"0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b":PSA_ERROR_INVALID_ARGUMENT:PSA_KEY_DERIVATION_INPUT_INFO:PSA_KEY_TYPE_NONE:"":PSA_ERROR_BAD_STATE:PSA_KEY_TYPE_RAW_DATA:PSA_ERROR_NOT_PERMITTED
+derive_input:PSA_ALG_HKDF(PSA_ALG_SHA_256):PSA_KEY_DERIVATION_INPUT_SALT:PSA_KEY_TYPE_NONE:"":PSA_SUCCESS:PSA_KEY_DERIVATION_INPUT_SECRET:PSA_KEY_TYPE_RAW_DATA:"0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b0b":PSA_ERROR_INVALID_ARGUMENT:PSA_KEY_DERIVATION_INPUT_INFO:PSA_KEY_TYPE_NONE:"":PSA_ERROR_BAD_STATE:PSA_KEY_TYPE_RAW_DATA:PSA_ERROR_BAD_STATE
 
 PSA key derivation: HKDF-SHA-256, direct secret, direct output
 depends_on:PSA_WANT_ALG_HKDF:PSA_WANT_ALG_SHA_256
diff --git a/tests/suites/test_suite_psa_crypto.function b/tests/suites/test_suite_psa_crypto.function
index 1aa9527..d28de0c 100644
--- a/tests/suites/test_suite_psa_crypto.function
+++ b/tests/suites/test_suite_psa_crypto.function
@@ -5934,7 +5934,7 @@
     if( output_key_type != PSA_KEY_TYPE_NONE )
     {
         psa_reset_key_attributes( &attributes );
-        psa_set_key_type( &attributes, PSA_KEY_TYPE_RAW_DATA );
+        psa_set_key_type( &attributes, output_key_type );
         psa_set_key_bits( &attributes, 8 );
         actual_output_status =
             psa_key_derivation_output_key( &attributes, &operation,