diff --git a/ChangeLog.d/oid-parse-from-numeric-string.txt b/ChangeLog.d/oid-parse-from-numeric-string.txt
new file mode 100644
index 0000000..82ed2fd
--- /dev/null
+++ b/ChangeLog.d/oid-parse-from-numeric-string.txt
@@ -0,0 +1,3 @@
+Features
+   * Add function mbedtls_oid_from_numeric_string() to parse an OID from a
+     string to a DER-encoded mbedtls_asn1_buf.
diff --git a/include/mbedtls/oid.h b/include/mbedtls/oid.h
index 1cbf968..ec36748 100644
--- a/include/mbedtls/oid.h
+++ b/include/mbedtls/oid.h
@@ -64,6 +64,11 @@
 #define MBEDTLS_OID_X509_EXT_NS_CERT_TYPE                (1 << 16)
 
 /*
+ * Maximum number of OID components allowed
+ */
+#define MBEDTLS_OID_MAX_COMPONENTS              128
+
+/*
  * Top level OID tuples
  */
 #define MBEDTLS_OID_ISO_MEMBER_BODIES           "\x2a"          /* {iso(1) member-body(2)} */
@@ -479,6 +484,25 @@
 int mbedtls_oid_get_numeric_string(char *buf, size_t size, const mbedtls_asn1_buf *oid);
 
 /**
+ * \brief           Translate a string containing a dotted-decimal
+ *                  representation of an ASN.1 OID into its encoded form
+ *                  (e.g. "1.2.840.113549" into "\x2A\x86\x48\x86\xF7\x0D").
+ *                  On success, this function allocates oid->buf from the
+ *                  heap. It must be freed by the caller using mbedtls_free().
+ *
+ * \param oid       #mbedtls_asn1_buf to populate with the DER-encoded OID
+ * \param oid_str   string representation of the OID to parse
+ * \param size      length of the OID string, not including any null terminator
+ *
+ * \return          0 if successful
+ * \return          #MBEDTLS_ERR_ASN1_INVALID_DATA if \p oid_str does not
+ *                  represent a valid OID
+ * \return          #MBEDTLS_ERR_ASN1_ALLOC_FAILED if the function fails to
+ *                  allocate oid->buf
+ */
+int mbedtls_oid_from_numeric_string(mbedtls_asn1_buf *oid, const char *oid_str, size_t size);
+
+/**
  * \brief          Translate an X.509 extension OID into local values
  *
  * \param oid      OID to use
diff --git a/library/oid.c b/library/oid.c
index f78ee85..a580992 100644
--- a/library/oid.c
+++ b/library/oid.c
@@ -933,4 +933,180 @@
     return (int) (size - n);
 }
 
+static int oid_parse_number(unsigned int *num, const char **p, const char *bound)
+{
+    int ret = MBEDTLS_ERR_ASN1_INVALID_DATA;
+
+    *num = 0;
+
+    while (*p < bound && **p >= '0' && **p <= '9') {
+        ret = 0;
+        if (*num > (UINT_MAX / 10)) {
+            return MBEDTLS_ERR_ASN1_INVALID_DATA;
+        }
+        *num *= 10;
+        *num += **p - '0';
+        (*p)++;
+    }
+    return ret;
+}
+
+static size_t oid_subidentifier_num_bytes(unsigned int value)
+{
+    size_t num_bytes = 0;
+
+    do {
+        value >>= 7;
+        num_bytes++;
+    } while (value != 0);
+
+    return num_bytes;
+}
+
+static int oid_subidentifier_encode_into(unsigned char **p,
+                                         unsigned char *bound,
+                                         unsigned int value)
+{
+    size_t num_bytes = oid_subidentifier_num_bytes(value);
+
+    if ((size_t) (bound - *p) < num_bytes) {
+        return MBEDTLS_ERR_OID_BUF_TOO_SMALL;
+    }
+    (*p)[num_bytes - 1] = (unsigned char) (value & 0x7f);
+    value >>= 7;
+
+    for (size_t i = 2; i <= num_bytes; i++) {
+        (*p)[num_bytes - i] = 0x80 | (unsigned char) (value & 0x7f);
+        value >>= 7;
+    }
+    *p += num_bytes;
+
+    return 0;
+}
+
+/* Return the OID for the given x.y.z.... style numeric string  */
+int mbedtls_oid_from_numeric_string(mbedtls_asn1_buf *oid,
+                                    const char *oid_str, size_t size)
+{
+    int ret = MBEDTLS_ERR_ASN1_INVALID_DATA;
+    const char *str_ptr = oid_str;
+    const char *str_bound = oid_str + size;
+    unsigned int val = 0;
+    unsigned int component1, component2;
+    size_t encoded_len;
+    unsigned char *resized_mem;
+
+    /* Count the number of dots to get a worst-case allocation size. */
+    size_t num_dots = 0;
+    for (size_t i = 0; i < size; i++) {
+        if (oid_str[i] == '.') {
+            num_dots++;
+        }
+    }
+    /* Allocate maximum possible required memory:
+     * There are (num_dots + 1) integer components, but the first 2 share the
+     * same subidentifier, so we only need num_dots subidentifiers maximum. */
+    if (num_dots == 0 || (num_dots > MBEDTLS_OID_MAX_COMPONENTS - 1)) {
+        return MBEDTLS_ERR_ASN1_INVALID_DATA;
+    }
+    /* Each byte can store 7 bits, calculate number of bytes for a
+     * subidentifier:
+     *
+     * bytes = ceil(subidentifer_size * 8 / 7)
+     */
+    size_t bytes_per_subidentifier = (((sizeof(unsigned int) * 8) - 1) / 7)
+                                     + 1;
+    size_t max_possible_bytes = num_dots * bytes_per_subidentifier;
+    oid->p = mbedtls_calloc(max_possible_bytes, 1);
+    if (oid->p == NULL) {
+        return MBEDTLS_ERR_ASN1_ALLOC_FAILED;
+    }
+    unsigned char *out_ptr = oid->p;
+    unsigned char *out_bound = oid->p + max_possible_bytes;
+
+    ret = oid_parse_number(&component1, &str_ptr, str_bound);
+    if (ret != 0) {
+        goto error;
+    }
+    if (component1 > 2) {
+        /* First component can't be > 2 */
+        ret = MBEDTLS_ERR_ASN1_INVALID_DATA;
+        goto error;
+    }
+    if (str_ptr >= str_bound || *str_ptr != '.') {
+        ret = MBEDTLS_ERR_ASN1_INVALID_DATA;
+        goto error;
+    }
+    str_ptr++;
+
+    ret = oid_parse_number(&component2, &str_ptr, str_bound);
+    if (ret != 0) {
+        goto error;
+    }
+    if ((component1 < 2) && (component2 > 39)) {
+        /* Root nodes 0 and 1 may have up to 40 children, numbered 0-39 */
+        ret = MBEDTLS_ERR_ASN1_INVALID_DATA;
+        goto error;
+    }
+    if (str_ptr < str_bound) {
+        if (*str_ptr == '.') {
+            str_ptr++;
+        } else {
+            ret = MBEDTLS_ERR_ASN1_INVALID_DATA;
+            goto error;
+        }
+    }
+
+    if (component2 > (UINT_MAX - (component1 * 40))) {
+        ret = MBEDTLS_ERR_ASN1_INVALID_DATA;
+        goto error;
+    }
+    ret = oid_subidentifier_encode_into(&out_ptr, out_bound,
+                                        (component1 * 40) + component2);
+    if (ret != 0) {
+        goto error;
+    }
+
+    while (str_ptr < str_bound) {
+        ret = oid_parse_number(&val, &str_ptr, str_bound);
+        if (ret != 0) {
+            goto error;
+        }
+        if (str_ptr < str_bound) {
+            if (*str_ptr == '.') {
+                str_ptr++;
+            } else {
+                ret = MBEDTLS_ERR_ASN1_INVALID_DATA;
+                goto error;
+            }
+        }
+
+        ret = oid_subidentifier_encode_into(&out_ptr, out_bound, val);
+        if (ret != 0) {
+            goto error;
+        }
+    }
+
+    encoded_len = out_ptr - oid->p;
+    resized_mem = mbedtls_calloc(encoded_len, 1);
+    if (resized_mem == NULL) {
+        ret = MBEDTLS_ERR_ASN1_ALLOC_FAILED;
+        goto error;
+    }
+    memcpy(resized_mem, oid->p, encoded_len);
+    mbedtls_free(oid->p);
+    oid->p = resized_mem;
+    oid->len = encoded_len;
+
+    oid->tag = MBEDTLS_ASN1_OID;
+
+    return 0;
+
+error:
+    mbedtls_free(oid->p);
+    oid->p = NULL;
+    oid->len = 0;
+    return ret;
+}
+
 #endif /* MBEDTLS_OID_C */
diff --git a/tests/suites/test_suite_oid.data b/tests/suites/test_suite_oid.data
index e7fbf1b..00f6e0b 100644
--- a/tests/suites/test_suite_oid.data
+++ b/tests/suites/test_suite_oid.data
@@ -137,3 +137,51 @@
 
 OID get numeric string - overlong encoding, second subidentifier
 oid_get_numeric_string:"2B8001":MBEDTLS_ERR_ASN1_INVALID_DATA:""
+
+OID from numeric string - hardware module name
+oid_from_numeric_string:"1.3.6.1.5.5.7.8.4":0:"2B06010505070804"
+
+OID from numeric string - multi-byte subidentifier
+oid_from_numeric_string:"1.1.2108":0:"29903C"
+
+OID from numeric string - second component greater than 39
+oid_from_numeric_string:"2.49.0.0.826.0":0:"81010000863A00"
+
+OID from numeric string - multi-byte first subidentifier
+oid_from_numeric_string:"2.999":0:"8837"
+
+OID from numeric string - empty string input
+oid_from_numeric_string:"":MBEDTLS_ERR_ASN1_INVALID_DATA:""
+
+OID from numeric string - first component not a number
+oid_from_numeric_string:"abc.1.2":MBEDTLS_ERR_ASN1_INVALID_DATA:""
+
+OID from numeric string - second component not a number
+oid_from_numeric_string:"1.abc.2":MBEDTLS_ERR_ASN1_INVALID_DATA:""
+
+OID from numeric string - first component too large
+oid_from_numeric_string:"3.1":MBEDTLS_ERR_ASN1_INVALID_DATA:""
+
+OID from numeric string - first component < 2, second > 39
+oid_from_numeric_string:"1.40":MBEDTLS_ERR_ASN1_INVALID_DATA:""
+
+OID from numeric string - third component not a number
+oid_from_numeric_string:"1.2.abc":MBEDTLS_ERR_ASN1_INVALID_DATA:""
+
+OID from numeric string - non-'.' separator between first and second
+oid_from_numeric_string:"1/2.3.4":MBEDTLS_ERR_ASN1_INVALID_DATA:""
+
+OID from numeric string - non-'.' separator between second and third
+oid_from_numeric_string:"1.2/3.4":MBEDTLS_ERR_ASN1_INVALID_DATA:""
+
+OID from numeric string - non-'.' separator between third and fourth
+oid_from_numeric_string:"1.2.3/4":MBEDTLS_ERR_ASN1_INVALID_DATA:""
+
+OID from numeric string - OID greater than max length (129 components)
+oid_from_numeric_string:"1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1.2.3.4.5.6.7.8.1":MBEDTLS_ERR_ASN1_INVALID_DATA:""
+
+OID from numeric string - OID with maximum subidentifier
+oid_from_numeric_string:"2.4294967215":0:"8FFFFFFF7F"
+
+OID from numeric string - OID with overflowing subidentifier
+oid_from_numeric_string:"2.4294967216":MBEDTLS_ERR_ASN1_INVALID_DATA:""
diff --git a/tests/suites/test_suite_oid.function b/tests/suites/test_suite_oid.function
index 68b769f..3adc6af 100644
--- a/tests/suites/test_suite_oid.function
+++ b/tests/suites/test_suite_oid.function
@@ -119,3 +119,29 @@
     }
 }
 /* END_CASE */
+
+/* BEGIN_CASE */
+void oid_from_numeric_string(char *oid_str, int error_ret,
+                             data_t *exp_oid_buf)
+{
+    mbedtls_asn1_buf oid = { 0, 0, NULL };
+    mbedtls_asn1_buf exp_oid = { 0, 0, NULL };
+    int ret;
+
+    exp_oid.tag = MBEDTLS_ASN1_OID;
+    exp_oid.p = exp_oid_buf->x;
+    exp_oid.len = exp_oid_buf->len;
+
+    ret = mbedtls_oid_from_numeric_string(&oid, oid_str, strlen(oid_str));
+
+    if (error_ret == 0) {
+        TEST_EQUAL(oid.len, exp_oid.len);
+        TEST_ASSERT(memcmp(oid.p, exp_oid.p, oid.len) == 0);
+        mbedtls_free(oid.p);
+        oid.p = NULL;
+        oid.len = 0;
+    } else {
+        TEST_EQUAL(ret, error_ret);
+    }
+}
+/* END_CASE */