diff --git a/ChangeLog b/ChangeLog
index f8a8f3316..d3f2b9c6b 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/config.h b/include/mbedtls/config.h
index 968964317..f9ae71eef 100644
--- a/include/mbedtls/config.h
+++ b/include/mbedtls/config.h
@@ -2528,7 +2528,7 @@
 /* \} name SECTION: Module configuration options */
 
 #if defined(TARGET_LIKE_MBED)
-#include "mbedtls/target_config.h"
+#include "target_config.h"
 #endif
 
 /*
diff --git a/include/mbedtls/ctr_drbg.h b/include/mbedtls/ctr_drbg.h
index 059d3c5c9..f3e9d0965 100644
--- a/include/mbedtls/ctr_drbg.h
+++ b/include/mbedtls/ctr_drbg.h
@@ -26,7 +26,7 @@
 #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 e01055802..e3e194226 100644
--- a/include/mbedtls/hmac_drbg.h
+++ b/include/mbedtls/hmac_drbg.h
@@ -26,7 +26,7 @@
 #include "md.h"
 
 #if defined(MBEDTLS_THREADING_C)
-#include "mbedtls/threading.h"
+#include "threading.h"
 #endif
 
 /*