diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 43101a94f7..77898e56bd 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1044,6 +1044,34 @@ class AutoTestCopter(AutoTest):
 
         self.progress("All Battery failsafe tests complete")
 
+    # Tests the vibration failsafe
+    def test_vibration_failsafe(self):
+        self.context_push()
+
+        # takeoff in Loiter to 20m
+        self.takeoff(20, mode="LOITER")
+
+        # simulate accel bias caused by high vibration
+        self.set_parameters({
+            'SIM_ACC1_BIAS_Z': 2,
+            'SIM_ACC2_BIAS_Z': 2,
+            'SIM_ACC3_BIAS_Z': 2,
+        })
+
+        # wait for Vibration compensation warning and change to LAND mode
+        self.wait_statustext("Vibration compensation ON", timeout=30)
+        self.wait_mode("LAND")
+
+        # check vehicle descends to 2m or less within 30 seconds
+        self.wait_altitude(-5, 2, timeout=30, relative=True)
+
+        # force disarm of vehicle (it will likely not automatically disarm)
+        self.disarm_vehicle(force=True)
+
+        # revert simulated accel bias and reboot to restore EKF health
+        self.context_pop()
+        self.reboot_sitl()
+
     # fly_stability_patch - fly south, then hold loiter within 5m
     # position and altitude and reduce 1 motor to 60% efficiency
     def fly_stability_patch(self,
@@ -7009,6 +7037,10 @@ class AutoTestCopter(AutoTest):
              "Fly Battery Failsafe",
              self.fly_battery_failsafe),  # 164s
 
+            ("VibrationFailsafe",
+             "Test Vibration Failsafe",
+             self.test_vibration_failsafe),
+
             ("StabilityPatch",
              "Fly stability patch",
              lambda: self.fly_stability_patch(30)),  # 17s