diff --git a/ansible/group_vars/lab/lab.yml b/ansible/group_vars/lab/lab.yml
index 034ebe8058c..77c34870b4f 100644
--- a/ansible/group_vars/lab/lab.yml
+++ b/ansible/group_vars/lab/lab.yml
@@ -37,3 +37,8 @@ snmp_location: testlab
 #For Arista fanout switch deployment only
 fanout_admin_user: "fanoutadminuser"
 fanout_admin_password: "fanoutadminpassword"
+
+# tacacs server configuration
+tacacs_passkey: "test123"
+tacacs_username: "test"
+tacacs_passwd: "test"
diff --git a/ansible/inventory b/ansible/inventory
index d0f58bb61df..9ef934b251a 100644
--- a/ansible/inventory
+++ b/ansible/inventory
@@ -14,3 +14,6 @@ switch5
 
 [ptf]
 ptf-1 ansible_host=10.0.0.200 ansible_ssh_user=root ansible_ssh_pass=password
+
+[tacacs_server]
+tacacs_server ansible_host=10.0.0.9 ansible_ssh_user=root ansible_ssh_pass=root
diff --git a/ansible/roles/test/tasks/sonic.yml b/ansible/roles/test/tasks/sonic.yml
index d254ed6dbe2..9da046269a6 100644
--- a/ansible/roles/test/tasks/sonic.yml
+++ b/ansible/roles/test/tasks/sonic.yml
@@ -169,3 +169,7 @@
 - name: neighbor mac change test without using ptf
   include: neighbour-mac-noptf.yml
   tags: neighbour_mac_noptf
+
+- name: Test TACACS+
+  include: tacacs.yml
+  tags: tacacs
diff --git a/ansible/roles/test/tasks/tacacs.yml b/ansible/roles/test/tasks/tacacs.yml
new file mode 100644
index 00000000000..3608d7c543c
--- /dev/null
+++ b/ansible/roles/test/tasks/tacacs.yml
@@ -0,0 +1,70 @@
+# Setup for TACACS+ testbed:
+# 1. Start TACACS+ service (tac_plus) in TACACS+ server.
+# 2. Add TACACS+ passkey, user account and password for test in TACACS+ server.
+# 3. Update TACACS+ server ip, passkey, user account and password in group_vars/lab/lab.yml
+# 4. Update ssh_user and ssh_pass for TACACS+ server in inventory
+###############################################################################################
+
+# Set TACACS+ authentication configuration in DUT
+- name: Set global TACACS+ passkey
+  become: true
+  shell: config tacacs passkey {{ tacacs_passkey }}
+
+- name: Add TACACS+ server
+  become: true
+  shell: config tacacs add {{ tacacs_servers[0] }}
+
+# Test TACACS+ login authentication
+- name: Enable TACACS+ Authentication
+  become: true
+  shell: config aaa authentication login tacacs+ local
+
+- name: Check if pam configuration ok
+  become: true
+  shell: "grep 'pam_tacplus.so server={{ tacacs_servers[0] }}' /etc/pam.d/common-auth-sonic"
+  register: tacplus_pam_module
+  failed_when: '"secret={{ tacacs_passkey }}" not in tacplus_pam_module.stdout'
+
+- name: Check if TACACS+ user login ok
+  shell: "sshpass -p {{ tacacs_passwd }} ssh {{ tacacs_username }}@{{ ansible_host }} whoami"
+  connection: local
+  become: no
+  register: login_result
+  failed_when: login_result.stdout != "{{ tacacs_username }}"
+
+# Test failthrough mechanism
+- name: Config local authentication prior to TACACS+ authentication
+  become: true
+  shell: config aaa authentication login local tacacs+
+
+- name: Disable fail-through mechanism
+  become: true
+  shell: config aaa authentication failthrough disable
+
+- name: Check if TACACS+ user login fail
+  shell: "sshpass -p {{ tacacs_passwd }} ssh {{ tacacs_username }}@{{ ansible_host }} whoami"
+  connection: local
+  become: no
+  register: login_result
+  failed_when: login_result.stdout == "{{ tacacs_username }}"
+
+- name: Restore fail-through mechanism
+  become: true
+  shell: config aaa authentication failthrough default
+
+# Cleanup TACACS+ configuration
+- name: Delete TACACS+ server
+  become: true
+  shell: config tacacs delete {{ tacacs_servers[0] }}
+
+- name: Delete TACACS+ passkey
+  become: true
+  shell: config tacacs default passkey
+
+- name: Set AAA authentication default
+  become: true
+  shell: config aaa authentication login default
+
+- name: Set AAA authentication failthrough default
+  become: true
+  shell: config aaa authentication failthrough default