diff --git a/Gems/PhysX/Code/CMakeLists.txt b/Gems/PhysX/Code/CMakeLists.txt
index 1acfae3bfd..c59db45aa7 100644
--- a/Gems/PhysX/Code/CMakeLists.txt
+++ b/Gems/PhysX/Code/CMakeLists.txt
@@ -17,6 +17,7 @@ if(PAL_TRAIT_PHYSX_SUPPORTED)
     set(physx_dependency 3rdParty::PhysX)
     set(physx_files physx_files.cmake)
     set(physx_shared_files physx_shared_files.cmake)
+    set(physx_mock_files physx_mocks_files.cmake)
     set(physx_editor_files physx_editor_files.cmake)
 else()
     set(physx_files physx_unsupported_files.cmake)
@@ -151,6 +152,17 @@ endif()
 # Tests
 ################################################################################
 if(PAL_TRAIT_BUILD_TESTS_SUPPORTED)
+    ly_add_target(
+        NAME PhysX.Mocks HEADERONLY
+        NAMESPACE Gem
+        OUTPUT_NAME PhysX.Mocks.Gem
+        FILES_CMAKE
+            physx_mocks_files.cmake
+        INCLUDE_DIRECTORIES
+            INTERFACE
+                Mocks
+    )
+
     ly_add_target(
         NAME PhysX.Tests ${PAL_TRAIT_TEST_TARGET_TYPE}
         NAMESPACE Gem
@@ -213,6 +225,7 @@ if(PAL_TRAIT_BUILD_TESTS_SUPPORTED)
                     AZ::AzTest
                     AZ::AzToolsFrameworkTestCommon
                     Gem::PhysX.Static
+                    Gem::PhysX.Mocks
                     Gem::PhysX.Editor.Static
             RUNTIME_DEPENDENCIES
                 Gem::LmbrCentral.Editor
diff --git a/Gems/PhysX/Code/Mocks/PhysX/MockPhysXHeightfieldProviderComponent.h b/Gems/PhysX/Code/Mocks/PhysX/MockPhysXHeightfieldProviderComponent.h
new file mode 100644
index 0000000000..7e500881c0
--- /dev/null
+++ b/Gems/PhysX/Code/Mocks/PhysX/MockPhysXHeightfieldProviderComponent.h
@@ -0,0 +1,74 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+#pragma once
+
+#include <gmock/gmock.h>
+#include <AzCore/UnitTest/TestTypes.h>
+#include <AzCore/Component/Component.h>
+#include <AzCore/Serialization/SerializeContext.h>
+#include <AzFramework/Physics/HeightfieldProviderBus.h>
+
+namespace UnitTest
+{
+    class MockPhysXHeightfieldProviderComponent
+        : public AZ::Component
+    {
+    public:
+        AZ_COMPONENT(MockPhysXHeightfieldProviderComponent, "{C5F7CCCF-FDB2-40DF-992D-CF028F4A1B59}");
+
+        static void Reflect([[maybe_unused]] AZ::ReflectContext* context)
+        {
+            if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
+            {
+                serializeContext->Class<MockPhysXHeightfieldProviderComponent, AZ::Component>()
+                    ->Version(1);
+            }
+        }
+
+        void Activate() override
+        {
+        }
+
+        void Deactivate() override
+        {
+        }
+
+        static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided)
+        {
+            provided.push_back(AZ_CRC_CE("PhysicsHeightfieldProviderService"));
+        }
+
+    };
+
+    class MockPhysXHeightfieldProvider
+        : protected Physics::HeightfieldProviderRequestsBus::Handler
+    {
+    public:
+        MockPhysXHeightfieldProvider(AZ::EntityId entityId)
+        {
+            Physics::HeightfieldProviderRequestsBus::Handler::BusConnect(entityId);
+        }
+
+        ~MockPhysXHeightfieldProvider()
+        {
+            Physics::HeightfieldProviderRequestsBus::Handler::BusDisconnect();
+        }
+
+        MOCK_CONST_METHOD0(GetHeightsAndMaterials, AZStd::vector<Physics::HeightMaterialPoint>());
+        MOCK_CONST_METHOD0(GetHeightfieldGridSpacing, AZ::Vector2());
+        MOCK_CONST_METHOD2(GetHeightfieldGridSize, void(int32_t&, int32_t&));
+        MOCK_CONST_METHOD2(GetHeightfieldHeightBounds, void(float&, float&));
+        MOCK_CONST_METHOD0(GetHeightfieldTransform, AZ::Transform());
+        MOCK_CONST_METHOD0(GetMaterialList, AZStd::vector<Physics::MaterialId>());
+        MOCK_CONST_METHOD0(GetHeights, AZStd::vector<float>());
+        MOCK_CONST_METHOD1(UpdateHeights, AZStd::vector<float>(const AZ::Aabb& dirtyRegion));
+        MOCK_CONST_METHOD1(UpdateHeightsAndMaterials, AZStd::vector<Physics::HeightMaterialPoint>(const AZ::Aabb& dirtyRegion));
+        MOCK_CONST_METHOD0(GetHeightfieldAabb, AZ::Aabb());
+    };
+
+} // namespace UnitTest
diff --git a/Gems/PhysX/Code/Tests/EditorHeightfieldColliderComponentTests.cpp b/Gems/PhysX/Code/Tests/EditorHeightfieldColliderComponentTests.cpp
new file mode 100644
index 0000000000..ef112d8623
--- /dev/null
+++ b/Gems/PhysX/Code/Tests/EditorHeightfieldColliderComponentTests.cpp
@@ -0,0 +1,215 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+#include <AzCore/UnitTest/TestTypes.h>
+#include <AzToolsFramework/UnitTest/AzToolsFrameworkTestHelpers.h>
+#include <AzToolsFramework/ToolsComponents/EditorNonUniformScaleComponent.h>
+#include <Tests/EditorTestUtilities.h>
+#include <EditorHeightfieldColliderComponent.h>
+#include <HeightfieldColliderComponent.h>
+#include <LmbrCentral/Shape/BoxShapeComponentBus.h>
+#include <AzFramework/Physics/HeightfieldProviderBus.h>
+#include <StaticRigidBodyComponent.h>
+#include <RigidBodyStatic.h>
+#include <PhysX/PhysXLocks.h>
+#include <AzFramework/Physics/Components/SimulatedBodyComponentBus.h>
+#include <PhysX/MockPhysXHeightfieldProviderComponent.h>
+#include <AzCore/Casting/lossy_cast.h>
+
+using ::testing::NiceMock;
+using ::testing::Return;
+
+namespace PhysXEditorTests
+{
+    AZStd::vector<Physics::HeightMaterialPoint> GetSamples()
+    {
+        AZStd::vector<Physics::HeightMaterialPoint> samples{ { 3.0f, Physics::QuadMeshType::SubdivideUpperLeftToBottomRight },
+                                                             { 2.0f, Physics::QuadMeshType::SubdivideUpperLeftToBottomRight },
+                                                             { 1.5f, Physics::QuadMeshType::SubdivideUpperLeftToBottomRight },
+                                                             { 1.0f, Physics::QuadMeshType::SubdivideUpperLeftToBottomRight },
+                                                             { 3.0f, Physics::QuadMeshType::SubdivideUpperLeftToBottomRight },
+                                                             { 1.0f, Physics::QuadMeshType::SubdivideUpperLeftToBottomRight },
+                                                             { 3.0f, Physics::QuadMeshType::SubdivideUpperLeftToBottomRight },
+                                                             { 0.0f, Physics::QuadMeshType::SubdivideUpperLeftToBottomRight },
+                                                             { 3.0f, Physics::QuadMeshType::SubdivideUpperLeftToBottomRight } };
+        return samples;
+    }
+
+    EntityPtr SetupHeightfieldComponent()
+    {
+        // create an editor entity with a shape collider component and a box shape component
+        EntityPtr editorEntity = CreateInactiveEditorEntity("HeightfieldColliderComponentEditorEntity");
+        editorEntity->CreateComponent<UnitTest::MockPhysXHeightfieldProviderComponent>();
+        editorEntity->CreateComponent(LmbrCentral::EditorAxisAlignedBoxShapeComponentTypeId);
+        editorEntity->CreateComponent<PhysX::EditorHeightfieldColliderComponent>();
+        AZ::ComponentApplicationBus::Broadcast(
+            &AZ::ComponentApplicationRequests::RegisterComponentDescriptor,
+            UnitTest::MockPhysXHeightfieldProviderComponent::CreateDescriptor());
+        return editorEntity;
+    }
+
+    void CleanupHeightfieldComponent()
+    {
+        AZ::ComponentApplicationBus::Broadcast(
+            &AZ::ComponentApplicationRequests::UnregisterComponentDescriptor,
+            UnitTest::MockPhysXHeightfieldProviderComponent::CreateDescriptor());
+    }
+
+    void SetupMockMethods(NiceMock<UnitTest::MockPhysXHeightfieldProvider>& mockShapeRequests)
+    {
+        ON_CALL(mockShapeRequests, GetHeightfieldTransform).WillByDefault(Return(AZ::Transform::CreateTranslation({ 1, 2, 0 })));
+        ON_CALL(mockShapeRequests, GetHeightfieldGridSpacing).WillByDefault(Return(AZ::Vector2(1, 1)));
+        ON_CALL(mockShapeRequests, GetHeightsAndMaterials).WillByDefault(Return(GetSamples()));
+        ON_CALL(mockShapeRequests, GetHeightfieldGridSize)
+            .WillByDefault(
+                [](int32_t& numColumns, int32_t& numRows)
+                {
+                    numColumns = 3;
+                    numRows = 3;
+                });
+        ON_CALL(mockShapeRequests, GetHeightfieldHeightBounds)
+            .WillByDefault(
+                [](float& x, float& y)
+                {
+                    x = -3.0f;
+                    y = 3.0f;
+                });
+    }
+
+    EntityPtr TestCreateActiveGameEntityFromEditorEntity(AZ::Entity* editorEntity)
+    {
+        EntityPtr gameEntity = AZStd::make_unique<AZ::Entity>();
+        AzToolsFramework::ToolsApplicationRequestBus::Broadcast(
+            &AzToolsFramework::ToolsApplicationRequests::PreExportEntity, *editorEntity, *gameEntity);
+        gameEntity->Init();
+        return gameEntity;
+    }
+
+
+    TEST_F(PhysXEditorFixture, EditorHeightfieldColliderComponentDependenciesSatisfiedEntityIsValid)
+    {
+        EntityPtr entity = CreateInactiveEditorEntity("HeightfieldColliderComponentEditorEntity");
+        entity->CreateComponent<PhysX::EditorHeightfieldColliderComponent>();
+        entity->CreateComponent(LmbrCentral::EditorAxisAlignedBoxShapeComponentTypeId);
+        entity->CreateComponent<UnitTest::MockPhysXHeightfieldProviderComponent>()->CreateDescriptor();
+
+        // the entity should be in a valid state because the shape component and
+        // the Terrain Physics Collider Component requirement is satisfied.
+        AZ::Entity::DependencySortOutcome sortOutcome = entity->EvaluateDependenciesGetDetails();
+        EXPECT_TRUE(sortOutcome.IsSuccess());
+    }
+
+    TEST_F(PhysXEditorFixture, EditorHeightfieldColliderComponentDependenciesMissingEntityIsInvalid)
+    {
+        EntityPtr entity = CreateInactiveEditorEntity("HeightfieldColliderComponentEditorEntity");
+        entity->CreateComponent<PhysX::EditorHeightfieldColliderComponent>();
+
+        // the entity should not be in a valid state because the heightfield collider component requires
+        // a shape component and the Terrain Physics Collider Component
+        AZ::Entity::DependencySortOutcome sortOutcome = entity->EvaluateDependenciesGetDetails();
+        EXPECT_FALSE(sortOutcome.IsSuccess());
+        EXPECT_TRUE(sortOutcome.GetError().m_code == AZ::Entity::DependencySortResult::MissingRequiredService);
+    }
+
+    TEST_F(PhysXEditorFixture, EditorHeightfieldColliderComponentMultipleHeightfieldColliderComponentsEntityIsInvalid)
+    {
+        EntityPtr entity = CreateInactiveEditorEntity("HeightfieldColliderComponentEditorEntity");
+        entity->CreateComponent<PhysX::EditorHeightfieldColliderComponent>();
+        entity->CreateComponent(LmbrCentral::EditorAxisAlignedBoxShapeComponentTypeId);
+
+        // adding a second heightfield collider component should make the entity invalid
+        entity->CreateComponent<PhysX::EditorHeightfieldColliderComponent>();
+
+        AZ::Entity::DependencySortOutcome sortOutcome = entity->EvaluateDependenciesGetDetails();
+        EXPECT_FALSE(sortOutcome.IsSuccess());
+        EXPECT_TRUE(sortOutcome.GetError().m_code == AZ::Entity::DependencySortResult::HasIncompatibleServices);
+    }
+
+    TEST_F(PhysXEditorFixture, EditorHeightfieldColliderComponentHeightfieldColliderWithCorrectComponentsCorrectRuntimeComponents)
+    {
+        EntityPtr editorEntity = SetupHeightfieldComponent();
+        NiceMock<UnitTest::MockPhysXHeightfieldProvider> mockShapeRequests(editorEntity->GetId());
+        SetupMockMethods(mockShapeRequests);
+        editorEntity->Activate();
+
+        EntityPtr gameEntity = TestCreateActiveGameEntityFromEditorEntity(editorEntity.get());
+        NiceMock<UnitTest::MockPhysXHeightfieldProvider> mockShapeRequests2(gameEntity->GetId());
+        SetupMockMethods(mockShapeRequests2);
+        gameEntity->Activate();
+
+        // check that the runtime entity has the expected components
+        EXPECT_TRUE(gameEntity->FindComponent<UnitTest::MockPhysXHeightfieldProviderComponent>() != nullptr);
+        EXPECT_TRUE(gameEntity->FindComponent<PhysX::HeightfieldColliderComponent>() != nullptr);
+        EXPECT_TRUE(gameEntity->FindComponent(LmbrCentral::AxisAlignedBoxShapeComponentTypeId) != nullptr);
+
+        CleanupHeightfieldComponent();
+    }
+
+    TEST_F(PhysXEditorFixture, EditorHeightfieldColliderComponentHeightfieldColliderWithAABoxCorrectRuntimeGeometry)
+    {
+        EntityPtr editorEntity = SetupHeightfieldComponent();
+        NiceMock<UnitTest::MockPhysXHeightfieldProvider> mockShapeRequests(editorEntity->GetId());
+        SetupMockMethods(mockShapeRequests);
+        editorEntity->Activate();
+
+        EntityPtr gameEntity = TestCreateActiveGameEntityFromEditorEntity(editorEntity.get());
+        NiceMock<UnitTest::MockPhysXHeightfieldProvider> mockShapeRequests2(gameEntity->GetId());
+        SetupMockMethods(mockShapeRequests2);
+        gameEntity->Activate();
+
+        AzPhysics::SimulatedBody* staticBody = nullptr;
+        AzPhysics::SimulatedBodyComponentRequestsBus::EventResult(
+            staticBody, gameEntity->GetId(), &AzPhysics::SimulatedBodyComponentRequests::GetSimulatedBody);
+        const auto* pxRigidStatic = static_cast<const physx::PxRigidStatic*>(staticBody->GetNativePointer());
+
+        PHYSX_SCENE_READ_LOCK(pxRigidStatic->getScene());
+
+        // there should be a single shape on the rigid body and it should be a heightfield
+        EXPECT_EQ(pxRigidStatic->getNbShapes(), 1);
+
+        physx::PxShape* shape = nullptr;
+        pxRigidStatic->getShapes(&shape, 1, 0);
+        EXPECT_EQ(shape->getGeometryType(), physx::PxGeometryType::eHEIGHTFIELD);
+
+        physx::PxHeightFieldGeometry heightfieldGeometry;
+        shape->getHeightFieldGeometry(heightfieldGeometry);
+
+        physx::PxHeightField* heightfield = heightfieldGeometry.heightField;
+
+        int32_t numRows{ 0 };
+        int32_t numColumns{ 0 };
+        Physics::HeightfieldProviderRequestsBus::Event(
+            gameEntity->GetId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldGridSize, numColumns, numRows);
+        EXPECT_EQ(numColumns, heightfield->getNbColumns());
+        EXPECT_EQ(numRows, heightfield->getNbRows());
+
+        for (int sampleRow = 0; sampleRow < numRows; ++sampleRow)
+        {
+            for (int sampleColumn = 0; sampleColumn < numColumns; ++sampleColumn)
+            {
+                float minHeightBounds{ 0.0f };
+                float maxHeightBounds{ 0.0f };
+                Physics::HeightfieldProviderRequestsBus::Event(
+                    gameEntity->GetId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldHeightBounds, minHeightBounds,
+                    maxHeightBounds);
+
+                AZStd::vector<Physics::HeightMaterialPoint> samples;
+                Physics::HeightfieldProviderRequestsBus::EventResult(
+                    samples, gameEntity->GetId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeightsAndMaterials);
+                const float halfBounds{ (maxHeightBounds - minHeightBounds) / 2.0f };
+                const float scaleFactor = (maxHeightBounds <= minHeightBounds) ? 1.0f : AZStd::numeric_limits<int16_t>::max() / halfBounds;
+
+                physx::PxHeightFieldSample samplePhysX = heightfield->getSample(sampleRow, sampleColumn);
+                Physics::HeightMaterialPoint samplePhysics = samples[sampleRow * numColumns + sampleColumn];
+                EXPECT_EQ(samplePhysX.height, azlossy_cast<physx::PxI16>(samplePhysics.m_height * scaleFactor));
+            }
+        }
+        CleanupHeightfieldComponent();
+    }
+
+} // namespace PhysXEditorTests
+
diff --git a/Gems/PhysX/Code/physx_editor_tests_files.cmake b/Gems/PhysX/Code/physx_editor_tests_files.cmake
index 36fb139514..953e2a167e 100644
--- a/Gems/PhysX/Code/physx_editor_tests_files.cmake
+++ b/Gems/PhysX/Code/physx_editor_tests_files.cmake
@@ -18,6 +18,7 @@ set(FILES
     Tests/PolygonPrismMeshUtilsTest.cpp
     Tests/PhysXColliderComponentModeTests.cpp
     Tests/ShapeColliderComponentTests.cpp
+    Tests/EditorHeightfieldColliderComponentTests.cpp
     Tests/TestColliderComponent.h
     Tests/SystemComponentTest.cpp
     Tests/RigidBodyComponentTests.cpp
diff --git a/Gems/PhysX/Code/physx_mocks_files.cmake b/Gems/PhysX/Code/physx_mocks_files.cmake
new file mode 100644
index 0000000000..49843eeb6f
--- /dev/null
+++ b/Gems/PhysX/Code/physx_mocks_files.cmake
@@ -0,0 +1,11 @@
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
+set(FILES
+    Mocks/PhysX/MockPhysXHeightfieldProviderComponent.h
+)