diff --git a/docs/about/release-information.rst b/docs/about/release-information.rst
index 654d65f..d814104 100644
--- a/docs/about/release-information.rst
+++ b/docs/about/release-information.rst
@@ -81,8 +81,6 @@
 |                                | Date        | after   |                                                         |
 |                                |             | Release |                                                         |
 +================================+=============+=========+=========================================================+
-| Mbedtls-2.x                    |     2.10    |   2.10  | Support for TF-A builds with Mbedtls-2.x will be removed|
-+--------------------------------+-------------+---------+---------------------------------------------------------+
 | STM32MP15_OPTEE_RSV_SHM        |     2.10    |   3.0   | OP-TEE manages its own memory on STM32MP15              |
 +--------------------------------+-------------+---------+---------------------------------------------------------+
 
@@ -103,4 +101,4 @@
 
 --------------
 
-*Copyright (c) 2018-2023, Arm Limited and Contributors. All rights reserved.*
+*Copyright (c) 2018-2024, Arm Limited and Contributors. All rights reserved.*
diff --git a/drivers/auth/mbedtls/mbedtls_common.mk b/drivers/auth/mbedtls/mbedtls_common.mk
index a2c6430..2bb23f9 100644
--- a/drivers/auth/mbedtls/mbedtls_common.mk
+++ b/drivers/auth/mbedtls/mbedtls_common.mk
@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2015-2023, Arm Limited. All rights reserved.
+# Copyright (c) 2015-2024, Arm Limited. All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
 #
@@ -19,16 +19,15 @@
 MBEDTLS_MINOR=$(shell grep -hP "define MBEDTLS_VERSION_MINOR" ${MBEDTLS_DIR}/include/mbedtls/*.h | grep -oe '\([0-9.]*\)')
 $(info MBEDTLS_VERSION_MAJOR is [${MBEDTLS_MAJOR}] MBEDTLS_VERSION_MINOR is [${MBEDTLS_MINOR}])
 
+ifneq (${MBEDTLS_MAJOR}, 3)
+  $(error Error: TF-A only supports MbedTLS versions > 3.x)
+endif
+
 # Specify mbed TLS configuration file
-ifeq (${MBEDTLS_MAJOR}, 2)
-        $(info Deprecation Notice: Please migrate to Mbedtls version 3.x (refer to TF-A documentation for the exact version number))
-	MBEDTLS_CONFIG_FILE             ?=	"<drivers/auth/mbedtls/mbedtls_config-2.h>"
-else ifeq (${MBEDTLS_MAJOR}, 3)
-	ifeq (${PSA_CRYPTO},1)
-		MBEDTLS_CONFIG_FILE     ?=      "<drivers/auth/mbedtls/psa_mbedtls_config.h>"
-	else
-		MBEDTLS_CONFIG_FILE	?=	"<drivers/auth/mbedtls/mbedtls_config-3.h>"
-	endif
+ifeq (${PSA_CRYPTO},1)
+  MBEDTLS_CONFIG_FILE    ?=    "<drivers/auth/mbedtls/psa_mbedtls_config.h>"
+else
+  MBEDTLS_CONFIG_FILE    ?=    "<drivers/auth/mbedtls/mbedtls_config-3.h>"
 endif
 
 $(eval $(call add_define,MBEDTLS_CONFIG_FILE))
@@ -42,11 +41,13 @@
 					cipher.c 			\
 					cipher_wrap.c 			\
 					constant_time.c			\
+					hash_info.c			\
 					memory_buffer_alloc.c		\
 					oid.c 				\
 					platform.c 			\
 					platform_util.c			\
 					bignum.c			\
+					bignum_core.c			\
 					gcm.c 				\
 					md.c				\
 					pk.c 				\
@@ -59,28 +60,17 @@
 					ecp_curves.c			\
 					ecp.c				\
 					rsa.c				\
+					rsa_alt_helpers.c		\
 					x509.c 				\
 					x509_crt.c 			\
 					)
 
-ifeq (${MBEDTLS_MAJOR}, 2)
-	LIBMBEDTLS_SRCS +=  $(addprefix ${MBEDTLS_DIR}/library/,	\
-						rsa_internal.c		\
-						)
-else ifeq (${MBEDTLS_MAJOR}, 3)
-	LIBMBEDTLS_SRCS +=  $(addprefix ${MBEDTLS_DIR}/library/,	\
-						bignum_core.c		\
-						rsa_alt_helpers.c	\
-						hash_info.c		\
-						)
-
-	# Currently on Mbedtls-3 there is outstanding bug due to usage
-	# of redundant declaration[1], So disable redundant-decls
-	# compilation flag to avoid compilation error when compiling with
-	# Mbedtls-3.
-	# [1]: https://github.com/Mbed-TLS/mbedtls/issues/6910
-	LIBMBEDTLS_CFLAGS += -Wno-error=redundant-decls
-endif
+# Currently on Mbedtls-3 there is outstanding bug due to usage
+# of redundant declaration[1], So disable redundant-decls
+# compilation flag to avoid compilation error when compiling with
+# Mbedtls-3.
+# [1]: https://github.com/Mbed-TLS/mbedtls/issues/6910
+LIBMBEDTLS_CFLAGS += -Wno-error=redundant-decls
 
 ifeq (${PSA_CRYPTO},1)
 LIBMBEDTLS_SRCS         += $(addprefix ${MBEDTLS_DIR}/library/,    	\
diff --git a/include/drivers/auth/mbedtls/mbedtls_config-2.h b/include/drivers/auth/mbedtls/mbedtls_config-2.h
deleted file mode 100644
index 01e261a..0000000
--- a/include/drivers/auth/mbedtls/mbedtls_config-2.h
+++ /dev/null
@@ -1,152 +0,0 @@
-/*
- * Copyright (c) 2015-2022, Arm Limited. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-#ifndef MBEDTLS_CONFIG_H
-#define MBEDTLS_CONFIG_H
-
-/*
- * Key algorithms currently supported on mbed TLS libraries
- */
-#define TF_MBEDTLS_RSA			1
-#define TF_MBEDTLS_ECDSA		2
-#define TF_MBEDTLS_RSA_AND_ECDSA	3
-
-#define TF_MBEDTLS_USE_RSA (TF_MBEDTLS_KEY_ALG_ID == TF_MBEDTLS_RSA \
-		|| TF_MBEDTLS_KEY_ALG_ID == TF_MBEDTLS_RSA_AND_ECDSA)
-#define TF_MBEDTLS_USE_ECDSA (TF_MBEDTLS_KEY_ALG_ID == TF_MBEDTLS_ECDSA \
-		|| TF_MBEDTLS_KEY_ALG_ID == TF_MBEDTLS_RSA_AND_ECDSA)
-
-/*
- * Hash algorithms currently supported on mbed TLS libraries
- */
-#define TF_MBEDTLS_SHA256		1
-#define TF_MBEDTLS_SHA384		2
-#define TF_MBEDTLS_SHA512		3
-
-/*
- * Configuration file to build mbed TLS with the required features for
- * Trusted Boot
- */
-
-#define MBEDTLS_PLATFORM_MEMORY
-#define MBEDTLS_PLATFORM_NO_STD_FUNCTIONS
-/* Prevent mbed TLS from using snprintf so that it can use tf_snprintf. */
-#define MBEDTLS_PLATFORM_SNPRINTF_ALT
-
-#define MBEDTLS_PKCS1_V21
-
-#define MBEDTLS_X509_ALLOW_UNSUPPORTED_CRITICAL_EXTENSION
-#define MBEDTLS_X509_CHECK_KEY_USAGE
-#define MBEDTLS_X509_CHECK_EXTENDED_KEY_USAGE
-
-#define MBEDTLS_ASN1_PARSE_C
-#define MBEDTLS_ASN1_WRITE_C
-
-#define MBEDTLS_BASE64_C
-#define MBEDTLS_BIGNUM_C
-
-#define MBEDTLS_ERROR_C
-#define MBEDTLS_MD_C
-
-#define MBEDTLS_MEMORY_BUFFER_ALLOC_C
-#define MBEDTLS_OID_C
-
-#define MBEDTLS_PK_C
-#define MBEDTLS_PK_PARSE_C
-#define MBEDTLS_PK_WRITE_C
-
-#define MBEDTLS_PLATFORM_C
-
-#if TF_MBEDTLS_USE_ECDSA
-#define MBEDTLS_ECDSA_C
-#define MBEDTLS_ECP_C
-#define MBEDTLS_ECP_DP_SECP256R1_ENABLED
-#define MBEDTLS_ECP_NO_INTERNAL_RNG
-#endif
-#if TF_MBEDTLS_USE_RSA
-#define MBEDTLS_RSA_C
-#define MBEDTLS_X509_RSASSA_PSS_SUPPORT
-#endif
-
-#define MBEDTLS_SHA256_C
-
-/*
- * If either Trusted Boot or Measured Boot require a stronger algorithm than
- * SHA-256, pull in SHA-512 support.
- */
-#if (TF_MBEDTLS_HASH_ALG_ID != TF_MBEDTLS_SHA256) /* TBB hash algo */
-#define	MBEDTLS_SHA512_C
-#else
-   /* TBB uses SHA-256, what about measured boot? */
-#if defined(TF_MBEDTLS_MBOOT_USE_SHA512)
-#define MBEDTLS_SHA512_C
-#endif
-#endif
-
-#define MBEDTLS_VERSION_C
-
-#define MBEDTLS_X509_USE_C
-#define MBEDTLS_X509_CRT_PARSE_C
-
-#if TF_MBEDTLS_USE_AES_GCM
-#define MBEDTLS_AES_C
-#define MBEDTLS_CIPHER_C
-#define MBEDTLS_GCM_C
-#endif
-
-/* MPI / BIGNUM options */
-#define MBEDTLS_MPI_WINDOW_SIZE			2
-
-#if TF_MBEDTLS_USE_RSA
-#if TF_MBEDTLS_KEY_SIZE <= 2048
-#define MBEDTLS_MPI_MAX_SIZE			256
-#else
-#define MBEDTLS_MPI_MAX_SIZE			512
-#endif
-#else
-#define MBEDTLS_MPI_MAX_SIZE			256
-#endif
-
-/* Memory buffer allocator options */
-#define MBEDTLS_MEMORY_ALIGN_MULTIPLE		8
-
-/*
- * Prevent the use of 128-bit division which
- * creates dependency on external libraries.
- */
-#define MBEDTLS_NO_UDBL_DIVISION
-
-#ifndef __ASSEMBLER__
-/* System headers required to build mbed TLS with the current configuration */
-#include <stdlib.h>
-#include <mbedtls/check_config.h>
-#endif
-
-/*
- * Determine Mbed TLS heap size
- * 13312 = 13*1024
- * 11264 = 11*1024
- * 7168  = 7*1024
- */
-#if TF_MBEDTLS_USE_ECDSA
-#define TF_MBEDTLS_HEAP_SIZE		U(13312)
-#elif TF_MBEDTLS_USE_RSA
-#if TF_MBEDTLS_KEY_SIZE <= 2048
-#define TF_MBEDTLS_HEAP_SIZE		U(7168)
-#else
-#define TF_MBEDTLS_HEAP_SIZE		U(11264)
-#endif
-#endif
-
-/*
- * Warn if errors from certain functions are ignored.
- *
- * The warnings are always enabled (where supported) for critical functions
- * where ignoring the return value is almost always a bug. This macro extends
- * the warnings to more functions.
- */
-#define MBEDTLS_CHECK_RETURN_WARNING
-
-#endif /* MBEDTLS_CONFIG_H */
diff --git a/plat/st/common/common.mk b/plat/st/common/common.mk
index f49112d..b9b62c0 100644
--- a/plat/st/common/common.mk
+++ b/plat/st/common/common.mk
@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2023, STMicroelectronics - All Rights Reserved
+# Copyright (c) 2023-2024, STMicroelectronics - All Rights Reserved
 #
 # SPDX-License-Identifier: BSD-3-Clause
 #
@@ -183,12 +183,10 @@
 MBEDTLS_MAJOR=$(shell grep -hP "define MBEDTLS_VERSION_MAJOR" \
 ${MBEDTLS_DIR}/include/mbedtls/*.h | grep -oe '\([0-9.]*\)')
 
-ifeq (${MBEDTLS_MAJOR}, 2)
-MBEDTLS_CONFIG_FILE		?=	"<stm32mp_mbedtls_config-2.h>"
-endif
-
 ifeq (${MBEDTLS_MAJOR}, 3)
 MBEDTLS_CONFIG_FILE		?=	"<stm32mp_mbedtls_config-3.h>"
+else
+$(error Error: TF-A only supports MbedTLS versions > 3.x)
 endif
 endif
 
diff --git a/plat/st/common/include/stm32mp_mbedtls_config-2.h b/plat/st/common/include/stm32mp_mbedtls_config-2.h
deleted file mode 100644
index 66ff346..0000000
--- a/plat/st/common/include/stm32mp_mbedtls_config-2.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * Copyright (c) 2022-2023, STMicroelectronics - All Rights Reserved
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-#ifndef MBEDTLS_CONFIG_H
-#define MBEDTLS_CONFIG_H
-
-/*
- * Key algorithms currently supported on mbed TLS libraries
- */
-#define TF_MBEDTLS_USE_RSA	0
-#define TF_MBEDTLS_USE_ECDSA	1
-
-/*
- * Hash algorithms currently supported on mbed TLS libraries
- */
-#define TF_MBEDTLS_SHA256		1
-#define TF_MBEDTLS_SHA384		2
-#define TF_MBEDTLS_SHA512		3
-
-/*
- * Configuration file to build mbed TLS with the required features for
- * Trusted Boot
- */
-
-#define MBEDTLS_PLATFORM_MEMORY
-#define MBEDTLS_PLATFORM_NO_STD_FUNCTIONS
-/* Prevent mbed TLS from using snprintf so that it can use tf_snprintf. */
-#define MBEDTLS_PLATFORM_SNPRINTF_ALT
-
-#define MBEDTLS_PKCS1_V21
-
-#define MBEDTLS_X509_ALLOW_UNSUPPORTED_CRITICAL_EXTENSION
-#define MBEDTLS_X509_CHECK_KEY_USAGE
-#define MBEDTLS_X509_CHECK_EXTENDED_KEY_USAGE
-
-#define MBEDTLS_ASN1_PARSE_C
-#define MBEDTLS_ASN1_WRITE_C
-
-#define MBEDTLS_BASE64_C
-#define MBEDTLS_BIGNUM_C
-
-#define MBEDTLS_ERROR_C
-#define MBEDTLS_MD_C
-
-#define MBEDTLS_MEMORY_BUFFER_ALLOC_C
-#define MBEDTLS_OID_C
-
-#define MBEDTLS_PK_C
-#define MBEDTLS_PK_PARSE_C
-#define MBEDTLS_PK_WRITE_C
-
-#define MBEDTLS_PLATFORM_C
-
-#if TF_MBEDTLS_USE_ECDSA
-#define MBEDTLS_ECDSA_C
-#define MBEDTLS_ECP_C
-#define MBEDTLS_ECP_DP_SECP256R1_ENABLED
-#define MBEDTLS_ECP_NO_INTERNAL_RNG
-#endif
-#if TF_MBEDTLS_USE_RSA
-#define MBEDTLS_RSA_C
-#define MBEDTLS_X509_RSASSA_PSS_SUPPORT
-#endif
-
-#define MBEDTLS_SHA256_C
-#if (TF_MBEDTLS_HASH_ALG_ID != TF_MBEDTLS_SHA256)
-#define MBEDTLS_SHA512_C
-#endif
-
-#define MBEDTLS_VERSION_C
-
-#define MBEDTLS_X509_USE_C
-#define MBEDTLS_X509_CRT_PARSE_C
-
-#if TF_MBEDTLS_USE_AES_GCM
-#define MBEDTLS_AES_C
-#define MBEDTLS_CIPHER_C
-#define MBEDTLS_GCM_C
-#endif
-
-/* MPI / BIGNUM options */
-#define MBEDTLS_MPI_WINDOW_SIZE			2
-
-#if TF_MBEDTLS_USE_RSA
-#if TF_MBEDTLS_KEY_SIZE <= 2048
-#define MBEDTLS_MPI_MAX_SIZE			256
-#else
-#define MBEDTLS_MPI_MAX_SIZE			512
-#endif
-#else
-#define MBEDTLS_MPI_MAX_SIZE			256
-#endif
-
-/* Memory buffer allocator options */
-#define MBEDTLS_MEMORY_ALIGN_MULTIPLE		8
-
-/*
- * Prevent the use of 128-bit division which
- * creates dependency on external libraries.
- */
-#define MBEDTLS_NO_UDBL_DIVISION
-
-#ifndef __ASSEMBLER__
-/* System headers required to build mbed TLS with the current configuration */
-#include <stdlib.h>
-#include <mbedtls/check_config.h>
-#endif
-
-/*
- * Mbed TLS heap size is smal as we only use the asn1
- * parsing functions
- * digest, signature and crypto algorithm are done by
- * other library.
- */
-
-#define TF_MBEDTLS_HEAP_SIZE           U(5120)
-#endif /* MBEDTLS_CONFIG_H */