diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index eca152e92217..0f0450b19b72 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -1,6 +1,17 @@
 Changelog
 =========
 
+.. _v41-0-2:
+
+41.0.2 - 2023-07-10
+~~~~~~~~~~~~~~~~~~~
+
+* Fixed bugs in creating and parsing SSH certificates where critical options
+  with values were handled incorrectly. Certificates are now created correctly
+  and parsing accepts correct values as well as the previously generated
+  invalid forms with a warning. In the next release, support for parsing these
+  invalid forms will be removed.
+
 .. _v41-0-1:
 
 41.0.1 - 2023-06-01
diff --git a/src/cryptography/hazmat/primitives/serialization/ssh.py b/src/cryptography/hazmat/primitives/serialization/ssh.py
index dab717529a32..35e53c102875 100644
--- a/src/cryptography/hazmat/primitives/serialization/ssh.py
+++ b/src/cryptography/hazmat/primitives/serialization/ssh.py
@@ -1064,9 +1064,19 @@ def _parse_exts_opts(exts_opts: memoryview) -> typing.Dict[bytes, bytes]:
             raise ValueError("Fields not lexically sorted")
         value, exts_opts = _get_sshstr(exts_opts)
         if len(value) > 0:
-            value, extra = _get_sshstr(value)
-            if len(extra) > 0:
-                raise ValueError("Unexpected extra data after value")
+            try:
+                value, extra = _get_sshstr(value)
+            except ValueError:
+                warnings.warn(
+                    "This certificate has an incorrect encoding for critical "
+                    "options or extensions. This will be an exception in "
+                    "cryptography 42",
+                    utils.DeprecatedIn41,
+                    stacklevel=4,
+                )
+            else:
+                if len(extra) > 0:
+                    raise ValueError("Unexpected extra data after value")
         result[bname] = bytes(value)
         last_name = bname
     return result
diff --git a/tests/hazmat/primitives/test_ssh.py b/tests/hazmat/primitives/test_ssh.py
index c22470d2e842..fcd0928a87de 100644
--- a/tests/hazmat/primitives/test_ssh.py
+++ b/tests/hazmat/primitives/test_ssh.py
@@ -1159,6 +1159,31 @@ def test_loads_ssh_cert(self, backend):
             b"permit-user-rc": b"",
         }
 
+    def test_loads_deprecated_invalid_encoding_cert(self, backend):
+        with pytest.warns(utils.DeprecatedIn41):
+            cert = load_ssh_public_identity(
+                b"ecdsa-sha2-nistp256-cert-v01@openssh.com AAAAKGVjZHNhLXNoYT"
+                b"ItbmlzdHAyNTYtY2VydC12MDFAb3BlbnNzaC5jb20AAAAgXE7sJ+xDVVNCO"
+                b"cEvpZS+SXIbc0nJdny/KqVbnwHslMIAAAAIbmlzdHAyNTYAAABBBI/qcLq8"
+                b"iiErpAhOWRqdMkpFSCNv7TVUcXCIfAl01JXbe2MvS4V7lFtiyrBjLSV7Iyw"
+                b"3TrulrWLibjPzZvLwmQcAAAAAAAAAAAAAAAEAAAAAAAAAAAAAAAAAAAAA//"
+                b"////////8AAABUAAAADWZvcmNlLWNvbW1hbmQAAAAoZWNobyBhYWFhYWFhY"
+                b"WFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYWFhYQAAAA92ZXJpZnktcmVxdWly"
+                b"ZWQAAAAAAAAAEgAAAApwZXJtaXQtcHR5AAAAAAAAAAAAAABoAAAAE2VjZHN"
+                b"hLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBI/qcLq8iiErpAhOWR"
+                b"qdMkpFSCNv7TVUcXCIfAl01JXbe2MvS4V7lFtiyrBjLSV7Iyw3TrulrWLib"
+                b"jPzZvLwmQcAAABlAAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAABKAAAAIQCi"
+                b"eCsIhGKrZdkE1+zY5EBucrLzxFpwnm/onIT/6rapvQAAACEAuVQ1yQjlPKr"
+                b"kfsGfjeG+2umZrOS5Ycx85BQhYf0RgsA="
+            )
+        assert isinstance(cert, SSHCertificate)
+        cert.verify_cert_signature()
+        assert cert.extensions == {b"permit-pty": b""}
+        assert cert.critical_options == {
+            b"force-command": b"echo aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa",
+            b"verify-required": b"",
+        }
+
     @pytest.mark.parametrize(
         "filename",
         [