diff --git a/.circleci/config.yml b/.circleci/config.yml
index 6ebdb31f64a9e..afd78b10a4ae1 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -495,7 +495,8 @@ jobs:
             other.test_libc_progname
             other.test_realpath
             other.test_embed_file_dup
-            other.test_dot_a_all_contents_invalid"
+            other.test_dot_a_all_contents_invalid
+            other.test_pkg_config*"
       # Run a single websockify-based test to ensure it works on windows.
       - run-tests:
           test_targets: "sockets.test_nodejs_sockets_echo*"
diff --git a/system/lib/pkgconfig/glfw3.pc b/system/lib/pkgconfig/glfw3.pc
new file mode 100644
index 0000000000000..40bd617a609f7
--- /dev/null
+++ b/system/lib/pkgconfig/glfw3.pc
@@ -0,0 +1,4 @@
+Name: GLFW
+Description: A multi-platform library for OpenGL, window and input
+Version: 3.2.1
+Libs: -sUSE_GLFW=3
diff --git a/tests/cmake/find_pkg_config/CMakeLists.txt b/tests/cmake/find_pkg_config/CMakeLists.txt
index d266f741f310e..ba1e665cc7c17 100644
--- a/tests/cmake/find_pkg_config/CMakeLists.txt
+++ b/tests/cmake/find_pkg_config/CMakeLists.txt
@@ -11,4 +11,5 @@ endif()
 message(STATUS "Check that all .pc files shipped with Emscripten can be located correctly")
 pkg_check_modules(EGL REQUIRED egl)
 pkg_check_modules(GLESV2 REQUIRED glesv2)
-pkg_check_modules(SDL2 REQUIRED sdl)
+pkg_check_modules(GLFW3 REQUIRED glfw3)
+pkg_check_modules(SDL REQUIRED sdl)
diff --git a/tests/test_other.py b/tests/test_other.py
index 3b0f68cc4b772..18119746c7c8f 100644
--- a/tests/test_other.py
+++ b/tests/test_other.py
@@ -147,6 +147,21 @@ def decorated(self, *args, **kwargs):
   return decorated
 
 
+def requires_pkg_config(func):
+  assert callable(func)
+
+  @wraps(func)
+  def decorated(self, *args, **kwargs):
+    if not utils.which('pkg-config'):
+      if 'EMTEST_SKIP_PKG_CONFIG' in os.environ:
+        self.skipTest('test requires pkg-config and EMTEST_SKIP_PKG_CONFIG is set')
+      else:
+        self.fail('pkg-config is required to run this test')
+    return func(self, *args, **kwargs)
+
+  return decorated
+
+
 class other(RunnerCore):
   def assertIsObjectFile(self, filename):
     self.assertTrue(building.is_wasm(filename))
@@ -816,14 +831,25 @@ def test_cmake_find_modules(self):
     self.assertContained('AL_VERSION: 1.1', output)
     self.assertContained('SDL version: 2.0.', output)
 
+  @requires_pkg_config
   def test_cmake_find_pkg_config(self):
-    if not utils.which('pkg-config'):
-      self.fail('pkg-config is required to run this test')
     out = self.run_process([EMCMAKE, 'cmake', test_file('cmake/find_pkg_config')], stdout=PIPE).stdout
     libdir = shared.Cache.get_sysroot_dir('local', 'lib', 'pkgconfig')
     libdir += os.path.pathsep + shared.Cache.get_sysroot_dir('lib', 'pkgconfig')
     self.assertContained('PKG_CONFIG_LIBDIR: ' + libdir, out)
 
+  @requires_pkg_config
+  def test_pkg_config_packages(self):
+    packages = [
+      ('egl', '10.2.2'),
+      ('glesv2', '10.2.2'),
+      ('glfw3', '3.2.1'),
+      ('sdl', '1.2.15'),
+    ]
+    for package, version in packages:
+        out = self.run_process([emmake, 'pkg-config', '--modversion', package], stdout=PIPE).stdout
+        self.assertContained(version, out)
+
   def test_system_include_paths(self):
     # Verify that all default include paths are within `emscripten/system`