diff --git a/src/client/auth.test.ts b/src/client/auth.test.ts
index 846ba35c2..c38f19331 100644
--- a/src/client/auth.test.ts
+++ b/src/client/auth.test.ts
@@ -786,30 +786,6 @@ describe('OAuth Authorization', () => {
             expect(calls[1][0].toString()).toBe('https://auth.example.com/.well-known/oauth-authorization-server');
         });
 
-        it('throws error when OIDC provider does not support S256 PKCE', async () => {
-            // OAuth discovery fails
-            mockFetch.mockResolvedValueOnce({
-                ok: false,
-                status: 404
-            });
-
-            // OpenID Connect discovery succeeds but without S256 support
-            const invalidOpenIdMetadata = {
-                ...validOpenIdMetadata,
-                code_challenge_methods_supported: ['plain'] // Missing S256
-            };
-
-            mockFetch.mockResolvedValueOnce({
-                ok: true,
-                status: 200,
-                json: async () => invalidOpenIdMetadata
-            });
-
-            await expect(discoverAuthorizationServerMetadata('https://auth.example.com')).rejects.toThrow(
-                'does not support S256 code challenge method required by MCP specification'
-            );
-        });
-
         it('continues on 4xx errors', async () => {
             mockFetch.mockResolvedValueOnce({
                 ok: false,
@@ -913,6 +889,17 @@ describe('OAuth Authorization', () => {
             code_challenge_methods_supported: ['S256']
         };
 
+        const validOpenIdMetadata = {
+            issuer: 'https://auth.example.com',
+            authorization_endpoint: 'https://auth.example.com/auth',
+            token_endpoint: 'https://auth.example.com/token',
+            jwks_uri: 'https://auth.example.com/jwks',
+            subject_types_supported: ['public'],
+            id_token_signing_alg_values_supported: ['RS256'],
+            response_types_supported: ['code'],
+            code_challenge_methods_supported: ['S256']
+        };
+
         const validClientInfo = {
             client_id: 'client123',
             client_secret: 'secret123',
@@ -986,9 +973,9 @@ describe('OAuth Authorization', () => {
             expect(authorizationUrl.searchParams.get('prompt')).toBe('consent');
         });
 
-        it('uses metadata authorization_endpoint when provided', async () => {
+        it.each([validMetadata, validOpenIdMetadata])('uses metadata authorization_endpoint when provided', async baseMetadata => {
             const { authorizationUrl } = await startAuthorization('https://auth.example.com', {
-                metadata: validMetadata,
+                metadata: baseMetadata,
                 clientInformation: validClientInfo,
                 redirectUrl: 'http://localhost:3000/callback'
             });
@@ -996,9 +983,9 @@ describe('OAuth Authorization', () => {
             expect(authorizationUrl.toString()).toMatch(/^https:\/\/auth\.example\.com\/auth\?/);
         });
 
-        it('validates response type support', async () => {
+        it.each([validMetadata, validOpenIdMetadata])('validates response type support', async baseMetadata => {
             const metadata = {
-                ...validMetadata,
+                ...baseMetadata,
                 response_types_supported: ['token'] // Does not support 'code'
             };
 
@@ -1011,21 +998,44 @@ describe('OAuth Authorization', () => {
             ).rejects.toThrow(/does not support response type/);
         });
 
-        it('validates PKCE support', async () => {
-            const metadata = {
-                ...validMetadata,
-                response_types_supported: ['code'],
-                code_challenge_methods_supported: ['plain'] // Does not support 'S256'
-            };
+        // https://github.com/modelcontextprotocol/typescript-sdk/issues/832
+        it.each([validMetadata, validOpenIdMetadata])(
+            'assumes supported code challenge methods includes S256 if absent',
+            async baseMetadata => {
+                const metadata = {
+                    ...baseMetadata,
+                    response_types_supported: ['code'],
+                    code_challenge_methods_supported: undefined
+                };
 
-            await expect(
-                startAuthorization('https://auth.example.com', {
+                const { authorizationUrl } = await startAuthorization('https://auth.example.com', {
                     metadata,
                     clientInformation: validClientInfo,
                     redirectUrl: 'http://localhost:3000/callback'
-                })
-            ).rejects.toThrow(/does not support code challenge method/);
-        });
+                });
+
+                expect(authorizationUrl.toString()).toMatch(/^https:\/\/auth\.example\.com\/auth\?.+&code_challenge_method=S256/);
+            }
+        );
+
+        it.each([validMetadata, validOpenIdMetadata])(
+            'validates supported code challenge methods includes S256 if present',
+            async baseMetadata => {
+                const metadata = {
+                    ...baseMetadata,
+                    response_types_supported: ['code'],
+                    code_challenge_methods_supported: ['plain'] // Does not support 'S256'
+                };
+
+                await expect(
+                    startAuthorization('https://auth.example.com', {
+                        metadata,
+                        clientInformation: validClientInfo,
+                        redirectUrl: 'http://localhost:3000/callback'
+                    })
+                ).rejects.toThrow(/does not support code challenge method/);
+            }
+        );
     });
 
     describe('exchangeAuthorization', () => {
diff --git a/src/client/auth.ts b/src/client/auth.ts
index d5d39cad4..3c04f7cb5 100644
--- a/src/client/auth.ts
+++ b/src/client/auth.ts
@@ -149,6 +149,9 @@ export class UnauthorizedError extends Error {
 
 type ClientAuthMethod = 'client_secret_basic' | 'client_secret_post' | 'none';
 
+const AUTHORIZATION_CODE_RESPONSE_TYPE = 'code';
+const AUTHORIZATION_CODE_CHALLENGE_METHOD = 'S256';
+
 /**
  * Determines the best client authentication method to use based on server support and client configuration.
  *
@@ -766,16 +769,7 @@ export async function discoverAuthorizationServerMetadata(
         if (type === 'oauth') {
             return OAuthMetadataSchema.parse(await response.json());
         } else {
-            const metadata = OpenIdProviderDiscoveryMetadataSchema.parse(await response.json());
-
-            // MCP spec requires OIDC providers to support S256 PKCE
-            if (!metadata.code_challenge_methods_supported?.includes('S256')) {
-                throw new Error(
-                    `Incompatible OIDC provider at ${endpointUrl}: does not support S256 code challenge method required by MCP specification`
-                );
-            }
-
-            return metadata;
+            return OpenIdProviderDiscoveryMetadataSchema.parse(await response.json());
         }
     }
 
@@ -803,19 +797,19 @@ export async function startAuthorization(
         resource?: URL;
     }
 ): Promise<{ authorizationUrl: URL; codeVerifier: string }> {
-    const responseType = 'code';
-    const codeChallengeMethod = 'S256';
-
     let authorizationUrl: URL;
     if (metadata) {
         authorizationUrl = new URL(metadata.authorization_endpoint);
 
-        if (!metadata.response_types_supported.includes(responseType)) {
-            throw new Error(`Incompatible auth server: does not support response type ${responseType}`);
+        if (!metadata.response_types_supported.includes(AUTHORIZATION_CODE_RESPONSE_TYPE)) {
+            throw new Error(`Incompatible auth server: does not support response type ${AUTHORIZATION_CODE_RESPONSE_TYPE}`);
         }
 
-        if (!metadata.code_challenge_methods_supported || !metadata.code_challenge_methods_supported.includes(codeChallengeMethod)) {
-            throw new Error(`Incompatible auth server: does not support code challenge method ${codeChallengeMethod}`);
+        if (
+            metadata.code_challenge_methods_supported &&
+            !metadata.code_challenge_methods_supported.includes(AUTHORIZATION_CODE_CHALLENGE_METHOD)
+        ) {
+            throw new Error(`Incompatible auth server: does not support code challenge method ${AUTHORIZATION_CODE_CHALLENGE_METHOD}`);
         }
     } else {
         authorizationUrl = new URL('/authorize', authorizationServerUrl);
@@ -826,10 +820,10 @@ export async function startAuthorization(
     const codeVerifier = challenge.code_verifier;
     const codeChallenge = challenge.code_challenge;
 
-    authorizationUrl.searchParams.set('response_type', responseType);
+    authorizationUrl.searchParams.set('response_type', AUTHORIZATION_CODE_RESPONSE_TYPE);
     authorizationUrl.searchParams.set('client_id', clientInformation.client_id);
     authorizationUrl.searchParams.set('code_challenge', codeChallenge);
-    authorizationUrl.searchParams.set('code_challenge_method', codeChallengeMethod);
+    authorizationUrl.searchParams.set('code_challenge_method', AUTHORIZATION_CODE_CHALLENGE_METHOD);
     authorizationUrl.searchParams.set('redirect_uri', String(redirectUrl));
 
     if (state) {