diff --git a/ChangeLog b/ChangeLog
index 35bf4f7f6..7b9adfdd1 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -19,6 +19,8 @@ Bugfix
      MBEDTLS_CIPHER_NULL_CIPHER is enabled. Found by TrinityTonic in #1719.
    * Added length checks to some TLS parsing functions. Found and fixed by
      Philippe Antoine from Catena cyber. #1663.
+   * Fix namespacing in header files. Remove the `mbedtls` namespacing in
+     the `#include` in the header files. Resolves #857
 
 Changes
    * Change the shebang line in Perl scripts to look up perl in the PATH.
diff --git a/include/mbedtls/cmac.h b/include/mbedtls/cmac.h
index 628c9daba..24839a20e 100644
--- a/include/mbedtls/cmac.h
+++ b/include/mbedtls/cmac.h
@@ -26,7 +26,7 @@
 #ifndef MBEDTLS_CMAC_H
 #define MBEDTLS_CMAC_H
 
-#include "mbedtls/cipher.h"
+#include "cipher.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/include/mbedtls/config.h b/include/mbedtls/config.h
index c7ba1743b..8aee63f17 100644
--- a/include/mbedtls/config.h
+++ b/include/mbedtls/config.h
@@ -2818,7 +2818,7 @@
 /* \} name SECTION: Customisation configuration options */
 
 /* Target and application specific configurations */
-//#define YOTTA_CFG_MBEDTLS_TARGET_CONFIG_FILE "mbedtls/target_config.h"
+//#define YOTTA_CFG_MBEDTLS_TARGET_CONFIG_FILE "target_config.h"
 
 #if defined(TARGET_LIKE_MBED) && defined(YOTTA_CFG_MBEDTLS_TARGET_CONFIG_FILE)
 #include YOTTA_CFG_MBEDTLS_TARGET_CONFIG_FILE
diff --git a/include/mbedtls/ctr_drbg.h b/include/mbedtls/ctr_drbg.h
index 121575a51..e554a0aff 100644
--- a/include/mbedtls/ctr_drbg.h
+++ b/include/mbedtls/ctr_drbg.h
@@ -31,7 +31,7 @@
 #include "aes.h"
 
 #if defined(MBEDTLS_THREADING_C)
-#include "mbedtls/threading.h"
+#include "threading.h"
 #endif
 
 #define MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED        -0x0034  /**< The entropy source failed. */
diff --git a/include/mbedtls/hmac_drbg.h b/include/mbedtls/hmac_drbg.h
index e0821cf78..2608de859 100644
--- a/include/mbedtls/hmac_drbg.h
+++ b/include/mbedtls/hmac_drbg.h
@@ -27,7 +27,7 @@
 #include "md.h"
 
 #if defined(MBEDTLS_THREADING_C)
-#include "mbedtls/threading.h"
+#include "threading.h"
 #endif
 
 /*
diff --git a/include/mbedtls/net.h b/include/mbedtls/net.h
index 28ae8217c..6c13b53fb 100644
--- a/include/mbedtls/net.h
+++ b/include/mbedtls/net.h
@@ -1,7 +1,7 @@
 /**
  * \file net.h
  *
- * \brief Deprecated header file that includes mbedtls/net_sockets.h
+ * \brief Deprecated header file that includes net_sockets.h
  *
  * \deprecated Superseded by mbedtls/net_sockets.h
  */
@@ -25,7 +25,7 @@
  */
 
 #if !defined(MBEDTLS_DEPRECATED_REMOVED)
-#include "mbedtls/net_sockets.h"
+#include "net_sockets.h"
 #if defined(MBEDTLS_DEPRECATED_WARNING)
 #warning "Deprecated header file: Superseded by mbedtls/net_sockets.h"
 #endif /* MBEDTLS_DEPRECATED_WARNING */
diff --git a/include/mbedtls/platform.h b/include/mbedtls/platform.h
index 2e21f0338..7c2835b30 100644
--- a/include/mbedtls/platform.h
+++ b/include/mbedtls/platform.h
@@ -31,7 +31,7 @@
 #endif
 
 #if defined(MBEDTLS_HAVE_TIME)
-#include "mbedtls/platform_time.h"
+#include "platform_time.h"
 #endif
 
 #ifdef __cplusplus
diff --git a/include/mbedtls/ssl.h b/include/mbedtls/ssl.h
index 3937d0262..905ebedd9 100644
--- a/include/mbedtls/ssl.h
+++ b/include/mbedtls/ssl.h
@@ -53,7 +53,7 @@
 #endif
 
 #if defined(MBEDTLS_HAVE_TIME)
-#include "mbedtls/platform_time.h"
+#include "platform_time.h"
 #endif
 
 /*