diff --git a/include/mbedtls/pkcs7.h b/include/mbedtls/pkcs7.h
index 82f282b..5ddd5a3 100644
--- a/include/mbedtls/pkcs7.h
+++ b/include/mbedtls/pkcs7.h
@@ -46,6 +46,8 @@
  *  - The RFC allows for SignerInfo structure to optionally contain
  *    unauthenticatedAttributes and authenticatedAttributes. In Mbed TLS it is
  *    assumed these fields are empty.
+ *  - The RFC allows for the signed Data type to contain contentInfo. This
+ *    implementation assumes the type is DATA and the content is empty.
  */
 
 #ifndef MBEDTLS_PKCS7_H
diff --git a/library/pkcs7.c b/library/pkcs7.c
index 273842b..1159b9b 100644
--- a/library/pkcs7.c
+++ b/library/pkcs7.c
@@ -495,8 +495,18 @@
         return ret;
     }
 
-    if (end_content_info != p) {
-        return MBEDTLS_ERR_PKCS7_INVALID_CONTENT_INFO;
+    if (p != end_content_info) {
+        /* Determine if valid content is present */
+        ret = mbedtls_asn1_get_tag(&p, end_content_info, &len, MBEDTLS_ASN1_CONSTRUCTED | MBEDTLS_ASN1_CONTEXT_SPECIFIC);
+        if (ret != 0) {
+            return MBEDTLS_ERROR_ADD(MBEDTLS_ERR_PKCS7_INVALID_CONTENT_INFO, ret);
+        }
+        p += len;
+        if (p != end_content_info) {
+            return MBEDTLS_ERROR_ADD(MBEDTLS_ERR_PKCS7_INVALID_CONTENT_INFO, ret);
+        }
+        /* Valid content is present - this is not supported */
+        return MBEDTLS_ERR_PKCS7_FEATURE_UNAVAILABLE;
     }
 
     if (MBEDTLS_OID_CMP(MBEDTLS_OID_PKCS7_DATA, &signed_data->content.oid)) {
diff --git a/tests/data_files/Makefile b/tests/data_files/Makefile
index 14c1744..7121b5b 100644
--- a/tests/data_files/Makefile
+++ b/tests/data_files/Makefile
@@ -1202,6 +1202,11 @@
 	$(OPENSSL) smime -sign -binary -in pkcs7_data.bin -out $@ -md sha256 -signer pkcs7-rsa-sha256-1.pem -nocerts -noattr -outform DER -out $@
 all_final += pkcs7_data_without_cert_signed.der
 
+# pkcs7 signature file with signature
+pkcs7_data_with_signature.der: $(pkcs7_test_file) $(pkcs7_test_cert_1)
+	$(OPENSSL) smime -sign -binary -in pkcs7_data.bin -out $@ -md sha256 -signer pkcs7-rsa-sha256-1.pem -nocerts -noattr -nodetach -outform DER -out $@
+all_final += pkcs7_data_with_signature.der
+
 # pkcs7 signature file with two signers
 pkcs7_data_multiple_signed.der: $(pkcs7_test_file) $(pkcs7_test_cert_1) $(pkcs7_test_cert_2)
 	$(OPENSSL) smime -sign -binary -in pkcs7_data.bin -out $@ -md sha256 -signer pkcs7-rsa-sha256-1.pem -signer pkcs7-rsa-sha256-2.pem -nocerts -noattr -outform DER -out $@
diff --git a/tests/data_files/pkcs7_data_with_signature.der b/tests/data_files/pkcs7_data_with_signature.der
new file mode 100644
index 0000000..cb9d126
--- /dev/null
+++ b/tests/data_files/pkcs7_data_with_signature.der
Binary files differ
diff --git a/tests/suites/test_suite_pkcs7.data b/tests/suites/test_suite_pkcs7.data
index 1319d7b..840a24b 100644
--- a/tests/suites/test_suite_pkcs7.data
+++ b/tests/suites/test_suite_pkcs7.data
@@ -22,6 +22,10 @@
 depends_on:MBEDTLS_RSA_C:!MBEDTLS_SHA512_C
 pkcs7_parse:"data_files/pkcs7_data_cert_signed_sha512.der":MBEDTLS_ERR_PKCS7_INVALID_ALG
 
+PKCS7 Parse Fail with Inlined Content Info #5.2
+depends_on:MBEDTLS_SHA256_C:MBEDTLS_RSA_C
+pkcs7_parse:"data_files/pkcs7_data_with_signature.der":MBEDTLS_ERR_PKCS7_FEATURE_UNAVAILABLE
+
 PKCS7 Signed Data Parse Fail with corrupted signer info #6
 depends_on:MBEDTLS_SHA256_C:MBEDTLS_RSA_C
 pkcs7_parse:"data_files/pkcs7_data_signed_badsigner.der":MBEDTLS_ERROR_ADD(MBEDTLS_ERR_PKCS7_INVALID_SIGNER_INFO,MBEDTLS_ERR_ASN1_UNEXPECTED_TAG)
@@ -68,11 +72,11 @@
 
 pkcs7_get_signers_info_set error handling (6213931373035520)
 depends_on:MBEDTLS_RIPEMD160_C
-pkcs7_parse:"data_files/pkcs7_get_signers_info_set-missing_free-fuzz_pkcs7-6213931373035520.der":MBEDTLS_ERR_PKCS7_INVALID_CONTENT_INFO
+pkcs7_parse:"data_files/pkcs7_get_signers_info_set-missing_free-fuzz_pkcs7-6213931373035520.der":MBEDTLS_ERROR_ADD(MBEDTLS_ERR_PKCS7_INVALID_CONTENT_INFO, MBEDTLS_ERR_ASN1_UNEXPECTED_TAG)
 
 pkcs7_get_signers_info_set error handling (4541044530479104)
 depends_on:MBEDTLS_RIPEMD160_C
-pkcs7_parse:"data_files/pkcs7_get_signers_info_set-leak-fuzz_pkcs7-4541044530479104.der":MBEDTLS_ERR_PKCS7_INVALID_CONTENT_INFO
+pkcs7_parse:"data_files/pkcs7_get_signers_info_set-leak-fuzz_pkcs7-4541044530479104.der": MBEDTLS_ERROR_ADD(MBEDTLS_ERR_PKCS7_INVALID_CONTENT_INFO, MBEDTLS_ERR_ASN1_UNEXPECTED_TAG)
 
 PKCS7 Only Signed Data Parse Pass #15
 depends_on:MBEDTLS_SHA256_C:MBEDTLS_RSA_C