diff --git a/docs/index.rst b/docs/index.rst
index d5ab8fc..bce9bb7 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -17,6 +17,7 @@
    security_advisories/index
    design_documents/index
    threat_model/index
+   tools/index
    change-log
    glossary
    license
diff --git a/docs/tools/index.rst b/docs/tools/index.rst
new file mode 100644
index 0000000..2dee2c0
--- /dev/null
+++ b/docs/tools/index.rst
@@ -0,0 +1,12 @@
+Tools
+=====
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Contents
+
+   memory-layout-tool
+
+--------------
+
+*Copyright (c) 2023, Arm Limited. All rights reserved.*
diff --git a/docs/tools/memory-layout-tool.rst b/docs/tools/memory-layout-tool.rst
new file mode 100644
index 0000000..ce14dab
--- /dev/null
+++ b/docs/tools/memory-layout-tool.rst
@@ -0,0 +1,120 @@
+TF-A Memory Layout Tool
+=======================
+
+TF-A's memory layout tool is a Python script for analyzing the virtual
+memory layout of TF-A builds.
+
+Prerequisites
+~~~~~~~~~~~~~
+
+#. Python (3.8 or later)
+#. `Poetry`_ Python package manager
+
+Getting Started
+~~~~~~~~~~~~~~~
+
+#. Install Poetry
+
+    .. code:: shell
+
+        curl -sSL https://install.python-poetry.org | python3 -
+
+#. Install the required packages
+
+    .. code:: shell
+
+        poetry install --with memory
+
+#. Verify that the tool runs in the installed virtual environment
+
+    .. code:: shell
+
+        poetry run memory --help
+
+Symbol Virtual Map
+~~~~~~~~~~~~~~~~~~
+
+The tool can be used to generate a visualisation of the symbol table. By
+default, it prints the symbols representing the start and end address of the
+main memory regions in an ELF file (i.e. text, bss, rodata) but can be modified
+to print any set of symbols.
+
+.. code:: shell
+
+    $ poetry run memory -s
+    build-path: build/fvp/release
+    Virtual Address Map:
+               +------------__BL1_RAM_END__------------+---------------------------------------+
+               +---------__COHERENT_RAM_END__----------+                                       |
+               +--------__COHERENT_RAM_START__---------+                                       |
+    0x0403b000 +----------__XLAT_TABLE_END__-----------+                                       |
+    0x04036000 +---------__XLAT_TABLE_START__----------+                                       |
+               +--------__BASE_XLAT_TABLE_END__--------+                                       |
+    0x04035600 +--------------__BSS_END__--------------+                                       |
+               +-------__BASE_XLAT_TABLE_START__-------+                                       |
+               +-----__PMF_PERCPU_TIMESTAMP_END__------+                                       |
+               +---------__PMF_TIMESTAMP_END__---------+                                       |
+    0x04035400 +--------__PMF_TIMESTAMP_START__--------+                                       |
+               +-------------__BSS_START__-------------+                                       |
+    0x04034a00 +------------__STACKS_END__-------------+                                       |
+    0x04034500 +-----------__STACKS_START__------------+                                       |
+    0x040344c5 +-----------__DATA_RAM_END__------------+                                       |
+               +-----------__BL1_RAM_START__-----------+                                       |
+    0x04034000 +----------__DATA_RAM_START__-----------+                                       |
+               |                                       +---------__COHERENT_RAM_END__----------+
+               |                                       +--------__COHERENT_RAM_START__---------+
+    0x0402e000 |                                       +----------__XLAT_TABLE_END__-----------+
+    0x04029000 |                                       +---------__XLAT_TABLE_START__----------+
+               |                                       +--------__BASE_XLAT_TABLE_END__--------+
+    0x04028800 |                                       +--------------__BSS_END__--------------+
+               |                                       +-------__BASE_XLAT_TABLE_START__-------+
+               |                                       +-----__PMF_PERCPU_TIMESTAMP_END__------+
+               |                                       +---------__PMF_TIMESTAMP_END__---------+
+    0x04028580 |                                       +--------__PMF_TIMESTAMP_START__--------+
+    0x04028000 |                                       +-------------__BSS_START__-------------+
+    0x04027e40 |                                       +------------__STACKS_END__-------------+
+    0x04027840 |                                       +-----------__STACKS_START__------------+
+    0x04027000 |                                       +------------__RODATA_END__-------------+
+               |                                       +------------__CPU_OPS_END__------------+
+               |                                       +-----------__CPU_OPS_START__-----------+
+               |                                       +--------__FCONF_POPULATOR_END__--------+
+               |                                       +--------------__GOT_END__--------------+
+               |                                       +-------------__GOT_START__-------------+
+               |                                       +---------__PMF_SVC_DESCS_END__---------+
+    0x04026c10 |                                       +--------__PMF_SVC_DESCS_START__--------+
+    0x04026bf8 |                                       +-------__FCONF_POPULATOR_START__-------+
+               |                                       +-----------__RODATA_START__------------+
+    0x04026000 |                                       +-------------__TEXT_END__--------------+
+    0x04021000 |                                       +------------__TEXT_START__-------------+
+    0x000062b5 +------------__BL1_ROM_END__------------+                                       |
+    0x00005df0 +----------__DATA_ROM_START__-----------+                                       |
+               +------------__CPU_OPS_END__------------+                                       |
+               +--------------__GOT_END__--------------+                                       |
+               +-------------__GOT_START__-------------+                                       |
+    0x00005de8 +------------__RODATA_END__-------------+                                       |
+               +-----------__CPU_OPS_START__-----------+                                       |
+               +--------__FCONF_POPULATOR_END__--------+                                       |
+               +---------__PMF_SVC_DESCS_END__---------+                                       |
+    0x00005c98 +--------__PMF_SVC_DESCS_START__--------+                                       |
+    0x00005c80 +-------__FCONF_POPULATOR_START__-------+                                       |
+               +-----------__RODATA_START__------------+                                       |
+    0x00005000 +-------------__TEXT_END__--------------+                                       |
+    0x00000000 +------------__TEXT_START__-------------+---------------------------------------+
+
+Addresses are displayed in hexadecimal by default but can be printed in decimal
+instead with the ``-d`` option.
+
+Because of the length of many of the symbols, the tool defaults to a text width
+of 120 chars. This can be increased if needed with the ``-w`` option.
+
+For more detailed help instructions, run:
+
+.. code:: shell
+
+    poetry run memory --help
+
+--------------
+
+*Copyright (c) 2023, Arm Limited. All rights reserved.*
+
+.. _Poetry: https://python-poetry.org/docs/