diff --git a/src/components-examples/material/form-field/form-field-harness/form-field-harness-example.spec.ts b/src/components-examples/material/form-field/form-field-harness/form-field-harness-example.spec.ts
index 824ede0f0418..ed8131311a64 100644
--- a/src/components-examples/material/form-field/form-field-harness/form-field-harness-example.spec.ts
+++ b/src/components-examples/material/form-field/form-field-harness/form-field-harness-example.spec.ts
@@ -47,7 +47,7 @@ describe('FormFieldHarnessExample', () => {
     expect(await formField.getTextHints()).toEqual(['Hint']);
 
     fixture.componentInstance.requiredControl.setValue('');
-    await (await formField.getControl())?.blur();
+    await ((await formField.getControl() as MatInputHarness))?.blur();
     expect(await formField.getTextErrors()).toEqual(['Error']);
     expect(await formField.getTextHints()).toEqual([]);
   });
diff --git a/src/material-experimental/mdc-form-field/testing/BUILD.bazel b/src/material-experimental/mdc-form-field/testing/BUILD.bazel
index f4a1d75bfa42..51bcea1f405f 100644
--- a/src/material-experimental/mdc-form-field/testing/BUILD.bazel
+++ b/src/material-experimental/mdc-form-field/testing/BUILD.bazel
@@ -13,6 +13,7 @@ ts_library(
         "//src/cdk/testing",
         "//src/material-experimental/mdc-input/testing",
         "//src/material-experimental/mdc-select/testing",
+        "//src/material/datepicker/testing",
         "//src/material/form-field/testing",
         "//src/material/form-field/testing/control",
     ],
@@ -32,11 +33,14 @@ ng_test_library(
     deps = [
         ":testing",
         "//src/material-experimental/mdc-autocomplete",
+        "//src/material-experimental/mdc-core",
         "//src/material-experimental/mdc-form-field",
         "//src/material-experimental/mdc-input",
         "//src/material-experimental/mdc-input/testing",
         "//src/material-experimental/mdc-select",
         "//src/material-experimental/mdc-select/testing",
+        "//src/material/datepicker",
+        "//src/material/datepicker/testing",
         "//src/material/form-field/testing:harness_tests_lib",
     ],
 )
diff --git a/src/material-experimental/mdc-form-field/testing/form-field-harness.spec.ts b/src/material-experimental/mdc-form-field/testing/form-field-harness.spec.ts
index 9c8bdc83300a..62aff4ca8ab0 100644
--- a/src/material-experimental/mdc-form-field/testing/form-field-harness.spec.ts
+++ b/src/material-experimental/mdc-form-field/testing/form-field-harness.spec.ts
@@ -5,14 +5,29 @@ import {MatInputHarness} from '@angular/material-experimental/mdc-input/testing'
 import {MatSelectModule} from '@angular/material-experimental/mdc-select';
 import {MatSelectHarness} from '@angular/material-experimental/mdc-select/testing';
 import {runHarnessTests} from '@angular/material/form-field/testing/shared.spec';
+import {MatDatepickerModule} from '@angular/material/datepicker';
+import {MatNativeDateModule} from '@angular/material-experimental/mdc-core';
+import {
+  MatDatepickerInputHarness,
+  MatDateRangeInputHarness,
+} from '@angular/material/datepicker/testing';
 import {MatFormFieldHarness} from './form-field-harness';
 
 describe('MDC-based MatFormFieldHarness', () => {
   runHarnessTests(
-      [MatFormFieldModule, MatAutocompleteModule, MatInputModule, MatSelectModule], {
+      [
+        MatFormFieldModule,
+        MatAutocompleteModule,
+        MatInputModule,
+        MatSelectModule,
+        MatNativeDateModule,
+        MatDatepickerModule
+      ], {
         formFieldHarness: MatFormFieldHarness as any,
         inputHarness: MatInputHarness,
         selectHarness: MatSelectHarness,
+        datepickerInputHarness: MatDatepickerInputHarness,
+        dateRangeInputHarness: MatDateRangeInputHarness,
         isMdcImplementation: true,
       });
 });
diff --git a/src/material-experimental/mdc-form-field/testing/form-field-harness.ts b/src/material-experimental/mdc-form-field/testing/form-field-harness.ts
index 23f798b5ac7e..9c1947e60678 100644
--- a/src/material-experimental/mdc-form-field/testing/form-field-harness.ts
+++ b/src/material-experimental/mdc-form-field/testing/form-field-harness.ts
@@ -13,11 +13,15 @@ import {
 } from '@angular/material/form-field/testing';
 import {MatInputHarness} from '@angular/material-experimental/mdc-input/testing';
 import {MatSelectHarness} from '@angular/material-experimental/mdc-select/testing';
+import {
+  MatDatepickerInputHarness,
+  MatDateRangeInputHarness,
+} from '@angular/material/datepicker/testing';
 
-// TODO(devversion): support datepicker harness once developed (COMP-203).
-// Also support chip list harness.
+// TODO(devversion): support support chip list harness
 /** Possible harnesses of controls which can be bound to a form-field. */
-export type FormFieldControlHarness = MatInputHarness|MatSelectHarness;
+export type FormFieldControlHarness =
+  MatInputHarness|MatSelectHarness|MatDatepickerInputHarness|MatDateRangeInputHarness;
 
 /** Harness for interacting with a MDC-based form-field's in tests. */
 export class MatFormFieldHarness extends _MatFormFieldHarnessBase<FormFieldControlHarness> {
@@ -44,6 +48,8 @@ export class MatFormFieldHarness extends _MatFormFieldHarnessBase<FormFieldContr
   protected _hints = this.locatorForAll('.mat-mdc-form-field-hint');
   protected _inputControl = this.locatorForOptional(MatInputHarness);
   protected _selectControl = this.locatorForOptional(MatSelectHarness);
+  protected _datepickerInputControl = this.locatorForOptional(MatDatepickerInputHarness);
+  protected _dateRangeInputControl = this.locatorForOptional(MatDateRangeInputHarness);
   private _mdcTextField = this.locatorFor('.mat-mdc-text-field-wrapper');
 
   /** Gets the appearance of the form-field. */
diff --git a/src/material/datepicker/testing/BUILD.bazel b/src/material/datepicker/testing/BUILD.bazel
index 32dbc0f5d89f..6cda607b819e 100644
--- a/src/material/datepicker/testing/BUILD.bazel
+++ b/src/material/datepicker/testing/BUILD.bazel
@@ -12,6 +12,7 @@ ts_library(
     deps = [
         "//src/cdk/coercion",
         "//src/cdk/testing",
+        "//src/material/form-field/testing/control",
     ],
 )
 
diff --git a/src/material/datepicker/testing/datepicker-input-harness-base.ts b/src/material/datepicker/testing/datepicker-input-harness-base.ts
index e0bd50ceb4e2..7ddc11b1e64b 100644
--- a/src/material/datepicker/testing/datepicker-input-harness-base.ts
+++ b/src/material/datepicker/testing/datepicker-input-harness-base.ts
@@ -9,8 +9,8 @@
 import {
   ComponentHarnessConstructor,
   HarnessPredicate,
-  ComponentHarness,
 } from '@angular/cdk/testing';
+import {MatFormFieldControlHarness} from '@angular/material/form-field/testing/control';
 import {DatepickerInputHarnessFilters} from './datepicker-harness-filters';
 
 /** Sets up the filter predicates for a datepicker input harness. */
@@ -28,7 +28,7 @@ export function getInputPredicate<T extends MatDatepickerInputHarnessBase>(
 }
 
 /** Base class for datepicker input harnesses. */
-export abstract class MatDatepickerInputHarnessBase extends ComponentHarness {
+export abstract class MatDatepickerInputHarnessBase extends MatFormFieldControlHarness {
   /** Whether the input is disabled. */
   async isDisabled(): Promise<boolean> {
     return (await this.host()).getProperty('disabled')!;
diff --git a/src/material/form-field/testing/BUILD.bazel b/src/material/form-field/testing/BUILD.bazel
index 8d11e5299bcb..532573c7d226 100644
--- a/src/material/form-field/testing/BUILD.bazel
+++ b/src/material/form-field/testing/BUILD.bazel
@@ -11,6 +11,7 @@ ts_library(
     module_name = "@angular/material/form-field/testing",
     deps = [
         "//src/cdk/testing",
+        "//src/material/datepicker/testing",
         "//src/material/form-field/testing/control",
         "//src/material/input/testing",
         "//src/material/select/testing",
@@ -45,6 +46,9 @@ ng_test_library(
         ":harness_tests_lib",
         ":testing",
         "//src/material/autocomplete",
+        "//src/material/core",
+        "//src/material/datepicker",
+        "//src/material/datepicker/testing",
         "//src/material/form-field",
         "//src/material/input",
         "//src/material/input/testing",
diff --git a/src/material/form-field/testing/form-field-harness.spec.ts b/src/material/form-field/testing/form-field-harness.spec.ts
index 7ce1d0d18068..f20e6a534a07 100644
--- a/src/material/form-field/testing/form-field-harness.spec.ts
+++ b/src/material/form-field/testing/form-field-harness.spec.ts
@@ -1,4 +1,10 @@
 import {MatAutocompleteModule} from '@angular/material/autocomplete';
+import {MatNativeDateModule} from '@angular/material/core';
+import {MatDatepickerModule} from '@angular/material/datepicker';
+import {
+  MatDatepickerInputHarness,
+  MatDateRangeInputHarness,
+} from '@angular/material/datepicker/testing';
 import {MatFormFieldModule} from '@angular/material/form-field';
 import {MatInputModule} from '@angular/material/input';
 import {MatInputHarness} from '@angular/material/input/testing';
@@ -9,10 +15,19 @@ import {MatFormFieldHarness} from './form-field-harness';
 import {runHarnessTests} from './shared.spec';
 
 describe('Non-MDC-based MatFormFieldHarness', () => {
-  runHarnessTests([MatFormFieldModule, MatAutocompleteModule, MatInputModule, MatSelectModule], {
+  runHarnessTests([
+    MatFormFieldModule,
+    MatAutocompleteModule,
+    MatInputModule,
+    MatSelectModule,
+    MatNativeDateModule,
+    MatDatepickerModule,
+  ], {
     formFieldHarness: MatFormFieldHarness,
     inputHarness: MatInputHarness,
     selectHarness: MatSelectHarness,
+    datepickerInputHarness: MatDatepickerInputHarness,
+    dateRangeInputHarness: MatDateRangeInputHarness,
     isMdcImplementation: false,
   });
 });
diff --git a/src/material/form-field/testing/form-field-harness.ts b/src/material/form-field/testing/form-field-harness.ts
index c33022f5c581..72d86599ed85 100644
--- a/src/material/form-field/testing/form-field-harness.ts
+++ b/src/material/form-field/testing/form-field-harness.ts
@@ -15,15 +15,19 @@ import {
   parallel,
   TestElement
 } from '@angular/cdk/testing';
+import {
+  MatDatepickerInputHarness,
+  MatDateRangeInputHarness,
+} from '@angular/material/datepicker/testing';
 import {MatFormFieldControlHarness} from '@angular/material/form-field/testing/control';
 import {MatInputHarness} from '@angular/material/input/testing';
 import {MatSelectHarness} from '@angular/material/select/testing';
 import {FormFieldHarnessFilters} from './form-field-harness-filters';
 
-// TODO(devversion): support datepicker harness once developed (COMP-203).
-// Also support chip list harness.
+// TODO(devversion): support support chip list harness
 /** Possible harnesses of controls which can be bound to a form-field. */
-export type FormFieldControlHarness = MatInputHarness|MatSelectHarness;
+export type FormFieldControlHarness =
+  MatInputHarness|MatSelectHarness|MatDatepickerInputHarness|MatDateRangeInputHarness;
 
 export abstract class _MatFormFieldHarnessBase<ControlHarness extends MatFormFieldControlHarness>
   extends ComponentHarness {
@@ -34,6 +38,8 @@ export abstract class _MatFormFieldHarnessBase<ControlHarness extends MatFormFie
   protected abstract _hints: AsyncFactoryFn<TestElement[]>;
   protected abstract _inputControl: AsyncFactoryFn<ControlHarness|null>;
   protected abstract _selectControl: AsyncFactoryFn<ControlHarness|null>;
+  protected abstract _datepickerInputControl: AsyncFactoryFn<ControlHarness|null>;
+  protected abstract _dateRangeInputControl: AsyncFactoryFn<ControlHarness|null>;
 
   /** Gets the appearance of the form-field. */
   abstract getAppearance(): Promise<string>;
@@ -91,8 +97,15 @@ export abstract class _MatFormFieldHarnessBase<ControlHarness extends MatFormFie
     if (type) {
       return this.locatorForOptional(type)();
     }
-    const [select, input] = await parallel(() => [this._selectControl(), this._inputControl()]);
-    return select || input;
+    const [select, input, datepickerInput, dateRangeInput] = await parallel(() => [
+      this._selectControl(),
+      this._inputControl(),
+      this._datepickerInputControl(),
+      this._dateRangeInputControl()
+    ]);
+
+    // Match the datepicker inputs first since they can also have a `MatInput`.
+    return datepickerInput || dateRangeInput || select || input;
   }
 
   /** Gets the theme color of the form-field. */
@@ -234,6 +247,8 @@ export class MatFormFieldHarness extends _MatFormFieldHarnessBase<FormFieldContr
   protected _hints = this.locatorForAll('mat-hint, .mat-hint');
   protected _inputControl = this.locatorForOptional(MatInputHarness);
   protected _selectControl = this.locatorForOptional(MatSelectHarness);
+  protected _datepickerInputControl = this.locatorForOptional(MatDatepickerInputHarness);
+  protected _dateRangeInputControl = this.locatorForOptional(MatDateRangeInputHarness);
 
   /** Gets the appearance of the form-field. */
   async getAppearance(): Promise<'legacy'|'standard'|'fill'|'outline'> {
diff --git a/src/material/form-field/testing/shared.spec.ts b/src/material/form-field/testing/shared.spec.ts
index b00a5ef0f1f8..49e7c3c2a6d6 100644
--- a/src/material/form-field/testing/shared.spec.ts
+++ b/src/material/form-field/testing/shared.spec.ts
@@ -9,10 +9,19 @@ import {MatFormFieldHarness} from './form-field-harness';
 
 /** Shared tests to run on both the original and MDC-based form-field's. */
 export function runHarnessTests(
-    modules: Type<any>[], {formFieldHarness, inputHarness, selectHarness, isMdcImplementation}: {
+    modules: Type<any>[], {
+      formFieldHarness,
+      inputHarness,
+      selectHarness,
+      datepickerInputHarness,
+      dateRangeInputHarness,
+      isMdcImplementation,
+    }: {
       formFieldHarness: typeof MatFormFieldHarness,
       inputHarness: Type<any>,
       selectHarness: Type<any>,
+      datepickerInputHarness: Type<any>,
+      dateRangeInputHarness: Type<any>
       isMdcImplementation: boolean
     }) {
   let fixture: ComponentFixture<FormFieldHarnessTest>;
@@ -34,7 +43,7 @@ export function runHarnessTests(
 
   it('should be able to load harnesses', async () => {
     const formFields = await loader.getAllHarnesses(formFieldHarness);
-    expect(formFields.length).toBe(5);
+    expect(formFields.length).toBe(7);
   });
 
   it('should be able to load form-field that matches specific selector', async () => {
@@ -60,6 +69,8 @@ export function runHarnessTests(
     expect(await formFields[2].getControl() instanceof selectHarness).toBe(true);
     expect(await formFields[3].getControl() instanceof inputHarness).toBe(true);
     expect(await formFields[4].getControl() instanceof inputHarness).toBe(true);
+    expect(await formFields[5].getControl() instanceof datepickerInputHarness).toBe(true);
+    expect(await formFields[6].getControl() instanceof dateRangeInputHarness).toBe(true);
   });
 
   it('should be able to get custom control of form-field', async () => {
@@ -189,13 +200,13 @@ export function runHarnessTests(
   it('should be able to get the prefix text of a form-field', async () => {
     const formFields = await loader.getAllHarnesses(formFieldHarness);
     const prefixTexts = await parallel(() => formFields.map(f => f.getPrefixText()));
-    expect(prefixTexts).toEqual(['prefix_textprefix_text_2', '', '', '', '']);
+    expect(prefixTexts).toEqual(['prefix_textprefix_text_2', '', '', '', '', '', '']);
   });
 
   it('should be able to get the suffix text of a form-field', async () => {
     const formFields = await loader.getAllHarnesses(formFieldHarness);
     const suffixTexts = await parallel(() => formFields.map(f => f.getSuffixText()));
-    expect(suffixTexts).toEqual(['suffix_text', '', '', '', '']);
+    expect(suffixTexts).toEqual(['suffix_text', '', '', '', '', '', '']);
   });
 
   it('should be able to check if form field has been touched', async () => {
@@ -281,6 +292,21 @@ export function runHarnessTests(
       <mat-label>Label</mat-label>
       <input matInput>
     </mat-form-field>
+
+    <mat-form-field>
+      <mat-label>Date</mat-label>
+      <input matInput [matDatepicker]="datepicker">
+      <mat-datepicker #datepicker></mat-datepicker>
+    </mat-form-field>
+
+    <mat-form-field>
+      <mat-label>Date range</mat-label>
+      <mat-date-range-input [rangePicker]="rangePicker">
+        <input matStartDate placeholder="Start date"/>
+        <input matEndDate placeholder="End date"/>
+      </mat-date-range-input>
+      <mat-date-range-picker #rangePicker></mat-date-range-picker>
+    </mat-form-field>
   `
 })
 class FormFieldHarnessTest {
diff --git a/tools/public_api_guard/material/form-field/testing.d.ts b/tools/public_api_guard/material/form-field/testing.d.ts
index c645cd356eb9..c16125aaa76f 100644
--- a/tools/public_api_guard/material/form-field/testing.d.ts
+++ b/tools/public_api_guard/material/form-field/testing.d.ts
@@ -1,4 +1,6 @@
 export declare abstract class _MatFormFieldHarnessBase<ControlHarness extends MatFormFieldControlHarness> extends ComponentHarness {
+    protected abstract _dateRangeInputControl: AsyncFactoryFn<ControlHarness | null>;
+    protected abstract _datepickerInputControl: AsyncFactoryFn<ControlHarness | null>;
     protected abstract _errors: AsyncFactoryFn<TestElement[]>;
     protected abstract _hints: AsyncFactoryFn<TestElement[]>;
     protected abstract _inputControl: AsyncFactoryFn<ControlHarness | null>;
@@ -29,7 +31,7 @@ export declare abstract class _MatFormFieldHarnessBase<ControlHarness extends Ma
     abstract isLabelFloating(): Promise<boolean>;
 }
 
-export declare type FormFieldControlHarness = MatInputHarness | MatSelectHarness;
+export declare type FormFieldControlHarness = MatInputHarness | MatSelectHarness | MatDatepickerInputHarness | MatDateRangeInputHarness;
 
 export interface FormFieldHarnessFilters extends BaseHarnessFilters {
     floatingLabelText?: string | RegExp;
@@ -37,6 +39,8 @@ export interface FormFieldHarnessFilters extends BaseHarnessFilters {
 }
 
 export declare class MatFormFieldHarness extends _MatFormFieldHarnessBase<FormFieldControlHarness> {
+    protected _dateRangeInputControl: AsyncFactoryFn<MatDateRangeInputHarness | null>;
+    protected _datepickerInputControl: AsyncFactoryFn<MatDatepickerInputHarness | null>;
     protected _errors: AsyncFactoryFn<TestElement[]>;
     protected _hints: AsyncFactoryFn<TestElement[]>;
     protected _inputControl: AsyncFactoryFn<MatInputHarness | null>;