diff --git a/piv/key.go b/piv/key.go
index 05aed0c..f8679b1 100644
--- a/piv/key.go
+++ b/piv/key.go
@@ -260,6 +260,10 @@ const (
 type PINPolicy int
 
 // PIN policies supported by this package.
+//
+// BUG(ericchiang): Caching for PINPolicyOnce isn't supported on YubiKey
+// versions older than 4.3.0 due to issues with verifying if a PIN is needed.
+// If specified, a PIN will be required for every operation.
 const (
 	PINPolicyNever PINPolicy = iota + 1
 	PINPolicyOnce
@@ -311,6 +315,9 @@ func (yk *YubiKey) AttestationCertificate() (*x509.Certificate, error) {
 // certificate. This can be used to prove a key was generate on a specific
 // YubiKey.
 //
+// This method is only supported for YubiKey versions >= 4.3.0.
+// https://developers.yubico.com/PIV/Introduction/PIV_attestation.html
+//
 // Certificates returned by this method MUST NOT be used for anything other than
 // attestion or determining the slots public key. For example, the certificate
 // is NOT suitable for TLS.
@@ -525,7 +532,12 @@ type KeyAuth struct {
 	PIN string
 	// PINPrompt can be used to interactively request the PIN from the user. The
 	// method is only called when needed. For example, if a key specifies
-	// PINPromptOnce, PINPrompt will only be called once per YubiKey struct.
+	// PINPolicyOnce, PINPrompt will only be called once per YubiKey struct.
+	//
+	// BUG(ericchiang): On YubiKey versions older than 4.3.0 PIN caching isn't
+	// supported and PINPrompt will be called on every signing operation, even if
+	// PINPolicyOnce is specified. This is due to a bug in the VERIFY card
+	// command for older YubiKeys.
 	PINPrompt func() (pin string, err error)
 }
 
@@ -571,6 +583,29 @@ func (k KeyAuth) do(yk *YubiKey, pp PINPolicy, f func(tx *scTx) ([]byte, error))
 	return f(yk.tx)
 }
 
+func pinPolicy(yk *YubiKey, slot Slot) (PINPolicy, error) {
+	cert, err := yk.Attest(slot)
+	if err != nil {
+		var e *apduErr
+		if errors.As(err, &e) && e.sw1 == 0x6d && e.sw2 == 0x00 {
+			// Attestation cert command not supported, probably an older YubiKey.
+			// Guess PINPolicyAlways.
+			//
+			// See https://github.com/go-piv/piv-go/issues/55
+			return PINPolicyAlways, nil
+		}
+		return 0, fmt.Errorf("get attestation cert: %v", err)
+	}
+	a, err := parseAttestation(cert)
+	if err != nil {
+		return 0, fmt.Errorf("parse attestation cert: %v", err)
+	}
+	if _, ok := pinPolicyMap[a.PINPolicy]; ok {
+		return a.PINPolicy, nil
+	}
+	return PINPolicyOnce, nil
+}
+
 // PrivateKey is used to access signing and decryption options for the key
 // stored in the slot. The returned key implements crypto.Signer and/or
 // crypto.Decrypter depending on the key type.
@@ -589,17 +624,11 @@ func (yk *YubiKey) PrivateKey(slot Slot, public crypto.PublicKey, auth KeyAuth)
 	if auth.PIN != "" || auth.PINPrompt != nil {
 		// Attempt to determine the key's PIN policy. This helps inform the
 		// strategy for when to prompt for a PIN.
-		cert, err := yk.Attest(slot)
+		policy, err := pinPolicy(yk, slot)
 		if err != nil {
-			return nil, fmt.Errorf("get attestation cert: %v", err)
-		}
-		a, err := parseAttestation(cert)
-		if err != nil {
-			return nil, fmt.Errorf("parse attestation cert: %v", err)
-		}
-		if _, ok := pinPolicyMap[a.PINPolicy]; ok {
-			pp = a.PINPolicy
+			return nil, err
 		}
+		pp = policy
 	}
 
 	switch pub := public.(type) {
diff --git a/piv/key_test.go b/piv/key_test.go
index 3aa3240..94e5339 100644
--- a/piv/key_test.go
+++ b/piv/key_test.go
@@ -35,6 +35,10 @@ func TestYubiKeySignECDSA(t *testing.T) {
 	yk, close := newTestYubiKey(t)
 	defer close()
 
+	if err := yk.Reset(); err != nil {
+		t.Fatalf("reset yubikey: %v", err)
+	}
+
 	slot := SlotAuthentication
 
 	key := Key{
@@ -89,6 +93,8 @@ func TestPINPrompt(t *testing.T) {
 			yk, close := newTestYubiKey(t)
 			defer close()
 
+			testRequiresVersion(t, yk, 4, 3, 0)
+
 			k := Key{
 				Algorithm:   AlgorithmEC256,
 				PINPolicy:   test.policy,
@@ -127,6 +133,11 @@ func TestPINPrompt(t *testing.T) {
 	}
 }
 
+func supportsAttestation(yk *YubiKey) bool {
+	v := yk.Version()
+	return !(v.Major < 4 || v.Minor < 3)
+}
+
 func TestSlots(t *testing.T) {
 	yk, close := newTestYubiKey(t)
 	if err := yk.Reset(); err != nil {
@@ -149,8 +160,10 @@ func TestSlots(t *testing.T) {
 			yk, close := newTestYubiKey(t)
 			defer close()
 
-			if _, err := yk.Attest(test.slot); err == nil || !errors.Is(err, ErrNotFound) {
-				t.Errorf("attest: got err=%v, want=ErrNotFound", err)
+			if supportsAttestation(yk) {
+				if _, err := yk.Attest(test.slot); err == nil || !errors.Is(err, ErrNotFound) {
+					t.Errorf("attest: got err=%v, want=ErrNotFound", err)
+				}
 			}
 
 			k := Key{
@@ -162,8 +175,11 @@ func TestSlots(t *testing.T) {
 			if err != nil {
 				t.Fatalf("generating key on slot: %v", err)
 			}
-			if _, err := yk.Attest(test.slot); err != nil {
-				t.Errorf("attest: %v", err)
+
+			if supportsAttestation(yk) {
+				if _, err := yk.Attest(test.slot); err != nil {
+					t.Errorf("attest: %v", err)
+				}
 			}
 
 			priv, err := yk.PrivateKey(test.slot, pub, KeyAuth{PIN: DefaultPIN})
@@ -320,6 +336,8 @@ func TestYubiKeyAttestation(t *testing.T) {
 		TouchPolicy: TouchPolicyNever,
 	}
 
+	testRequiresVersion(t, yk, 4, 3, 0)
+
 	cert, err := yk.AttestationCertificate()
 	if err != nil {
 		t.Fatalf("getting attestation certificate: %v", err)
@@ -351,6 +369,9 @@ func TestYubiKeyAttestation(t *testing.T) {
 	if a.TouchPolicy != key.TouchPolicy {
 		t.Errorf("attestation touch policy got=0x%x, wanted=0x%x", a.TouchPolicy, key.TouchPolicy)
 	}
+	if a.Version != yk.Version() {
+		t.Errorf("attestation version got=%#v, wanted=%#v", a.Version, yk.Version())
+	}
 }
 
 func TestYubiKeyStoreCertificate(t *testing.T) {
@@ -453,6 +474,10 @@ func TestYubiKeyGenerateKey(t *testing.T) {
 			}
 			yk, close := newTestYubiKey(t)
 			defer close()
+			if test.alg == AlgorithmEC384 {
+				testRequiresVersion(t, yk, 4, 3, 0)
+			}
+
 			key := Key{
 				Algorithm:   test.alg,
 				TouchPolicy: TouchPolicyNever,
diff --git a/piv/piv.go b/piv/piv.go
index 5bb70b8..9f381d3 100644
--- a/piv/piv.go
+++ b/piv/piv.go
@@ -180,6 +180,19 @@ func (c *client) Open(card string) (*YubiKey, error) {
 	return yk, nil
 }
 
+// Version returns the version as reported by the PIV applet. For newer
+// YubiKeys (>=4.0.0) this corresponds to the version of the YubiKey itself.
+//
+// Older YubiKeys return values that aren't directly related to the YubiKey
+// version. For example, 3rd generation YubiKeys report 1.0.X.
+func (yk *YubiKey) Version() Version {
+	return Version{
+		Major: int(yk.version.major),
+		Minor: int(yk.version.minor),
+		Patch: int(yk.version.patch),
+	}
+}
+
 // Serial returns the YubiKey's serial number.
 func (yk *YubiKey) Serial() (uint32, error) {
 	return ykSerial(yk.tx, yk.version)
@@ -218,6 +231,7 @@ func ykLogin(tx *scTx, pin string) error {
 		return err
 	}
 
+	// https://csrc.nist.gov/CSRC/media/Publications/sp/800-73/4/archive/2015-05-29/documents/sp800_73-4_pt2_draft.pdf#page=20
 	cmd := apdu{instruction: insVerify, param2: 0x80, data: data}
 	if _, err := tx.Transmit(cmd); err != nil {
 		return fmt.Errorf("verify pin: %w", err)
@@ -588,8 +602,8 @@ func ykVersion(tx *scTx) (*version, error) {
 	if err != nil {
 		return nil, fmt.Errorf("command failed: %w", err)
 	}
-	if n := len(resp); n < 3 {
-		return nil, fmt.Errorf("response was too short: %d", n)
+	if n := len(resp); n != 3 {
+		return nil, fmt.Errorf("expected response to have 3 bytes, got: %d", n)
 	}
 	return &version{resp[0], resp[1], resp[2]}, nil
 }
diff --git a/piv/piv_test.go b/piv/piv_test.go
index 06a1452..f37cbb2 100644
--- a/piv/piv_test.go
+++ b/piv/piv_test.go
@@ -41,6 +41,13 @@ func testGetVersion(t *testing.T, h *scHandle) {
 	}
 }
 
+func testRequiresVersion(t *testing.T, yk *YubiKey, major, minor, patch int) {
+	v := yk.Version()
+	if v.Major < major || v.Minor < minor || v.Patch < patch {
+		t.Skipf("test requires yubikey version %d.%d.%d: got %d.%d.%d", major, minor, patch, v.Major, v.Minor, v.Patch)
+	}
+}
+
 func TestGetVersion(t *testing.T) { runHandleTest(t, testGetVersion) }
 
 func TestCards(t *testing.T) {
@@ -130,6 +137,9 @@ func TestYubiKeySerial(t *testing.T) {
 func TestYubiKeyLoginNeeded(t *testing.T) {
 	yk, close := newTestYubiKey(t)
 	defer close()
+
+	testRequiresVersion(t, yk, 4, 3, 0)
+
 	if !ykLoginNeeded(yk.tx) {
 		t.Errorf("expected login needed")
 	}