diff --git a/bitcoin/src/crypto/taproot.rs b/bitcoin/src/crypto/taproot.rs
index d7cc880a..e09acbea 100644
--- a/bitcoin/src/crypto/taproot.rs
+++ b/bitcoin/src/crypto/taproot.rs
@@ -11,6 +11,8 @@ use internals::write_err;
 
 use crate::prelude::*;
 use crate::sighash::{InvalidSighashTypeError, TapSighashType};
+use crate::taproot::serialized_signature::{self, SerializedSignature};
+
 
 /// A BIP340-341 serialized taproot signature with the corresponding hash type.
 #[derive(Debug, Copy, Clone, PartialEq, Eq, PartialOrd, Ord, Hash)]
@@ -43,6 +45,8 @@ impl Signature {
     }
 
     /// Serialize Signature
+    ///
+    /// Note: this allocates on the heap, prefer [`serialize`](Self::serialize) if vec is not needed.
     pub fn to_vec(self) -> Vec<u8> {
         // TODO: add support to serialize to a writer to SerializedSig
         let mut ser_sig = self.sig.as_ref().to_vec();
@@ -53,6 +57,24 @@ impl Signature {
         }
         ser_sig
     }
+
+    /// Serializes the signature (without heap allocation)
+    ///
+    /// This returns a type with an API very similar to that of `Box<[u8]>`.
+    /// You can get a slice from it using deref coercions or turn it into an iterator.
+    pub fn serialize(self) -> SerializedSignature {
+        let mut buf = [0; serialized_signature::MAX_LEN];
+        let ser_sig = self.sig.serialize();
+        buf[..64].copy_from_slice(&ser_sig);
+        let len = if self.hash_ty == TapSighashType::Default {
+            // default sighash type, don't add extra sighash byte
+            64
+        } else {
+            buf[64] = self.hash_ty as u8;
+            65
+        };
+        SerializedSignature::from_raw_parts(buf, len)
+    }
 }
 
 /// An error constructing a [`taproot::Signature`] from a byte slice.
diff --git a/bitcoin/src/taproot.rs b/bitcoin/src/taproot/mod.rs
similarity index 99%
rename from bitcoin/src/taproot.rs
rename to bitcoin/src/taproot/mod.rs
index d8877143..f43cf130 100644
--- a/bitcoin/src/taproot.rs
+++ b/bitcoin/src/taproot/mod.rs
@@ -5,6 +5,8 @@
 //! This module provides support for taproot tagged hashes.
 //!
 
+pub mod serialized_signature;
+
 use core::cmp::Reverse;
 use core::fmt;
 use core::iter::FusedIterator;
@@ -1973,7 +1975,7 @@ mod test {
     }
 
     fn bip_341_read_json() -> serde_json::Value {
-        let json_str = include_str!("../tests/data/bip341_tests.json");
+        let json_str = include_str!("../../tests/data/bip341_tests.json");
         serde_json::from_str(json_str).expect("JSON was not well-formatted")
     }
 }
diff --git a/bitcoin/src/taproot/serialized_signature.rs b/bitcoin/src/taproot/serialized_signature.rs
new file mode 100644
index 00000000..b681e335
--- /dev/null
+++ b/bitcoin/src/taproot/serialized_signature.rs
@@ -0,0 +1,302 @@
+//! Implements [`SerializedSignature`] and related types.
+//!
+//! Serialized Taproot signatures have the issue that they can have different lengths.
+//! We want to avoid using `Vec` since that would require allocations making the code slower and
+//! unable to run on platforms without an allocator. We implement a special type to encapsulate
+//! serialized signatures and since it's a bit more complicated it has its own module.
+
+use core::borrow::Borrow;
+use core::convert::TryFrom;
+use core::{fmt, ops};
+
+pub use into_iter::IntoIter;
+
+use super::Signature;
+use super::SigFromSliceError;
+
+pub(crate) const MAX_LEN: usize = 65; // 64 for sig, 1B sighash flag
+
+/// A serialized Taproot Signature
+#[derive(Copy, Clone)]
+pub struct SerializedSignature {
+    data: [u8; MAX_LEN],
+    len: usize,
+}
+
+impl fmt::Debug for SerializedSignature {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { fmt::Display::fmt(self, f) }
+}
+
+impl fmt::Display for SerializedSignature {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        let mut buf = [0u8; MAX_LEN * 2];
+        let mut encoder = hex::buf_encoder::BufEncoder::new(&mut buf);
+        encoder.put_bytes(self, hex::Case::Lower);
+        f.pad_integral(true, "0x", encoder.as_str())
+    }
+}
+
+impl PartialEq for SerializedSignature {
+    #[inline]
+    fn eq(&self, other: &SerializedSignature) -> bool { **self == **other }
+}
+
+impl PartialEq<[u8]> for SerializedSignature {
+    #[inline]
+    fn eq(&self, other: &[u8]) -> bool { **self == *other }
+}
+
+impl PartialEq<SerializedSignature> for [u8] {
+    #[inline]
+    fn eq(&self, other: &SerializedSignature) -> bool { *self == **other }
+}
+
+impl PartialOrd for SerializedSignature {
+    fn partial_cmp(&self, other: &SerializedSignature) -> Option<core::cmp::Ordering> {
+        Some((**self).cmp(&**other))
+    }
+}
+
+impl Ord for SerializedSignature {
+    fn cmp(&self, other: &SerializedSignature) -> core::cmp::Ordering {
+        (**self).cmp(&**other)
+    }
+}
+
+impl PartialOrd<[u8]> for SerializedSignature {
+    fn partial_cmp(&self, other: &[u8]) -> Option<core::cmp::Ordering> {
+        (**self).partial_cmp(other)
+    }
+}
+
+impl PartialOrd<SerializedSignature> for [u8] {
+    fn partial_cmp(&self, other: &SerializedSignature) -> Option<core::cmp::Ordering> {
+        self.partial_cmp(&**other)
+    }
+}
+
+impl core::hash::Hash for SerializedSignature {
+    fn hash<H: core::hash::Hasher>(&self, state: &mut H) {
+        (**self).hash(state)
+    }
+}
+
+impl AsRef<[u8]> for SerializedSignature {
+    #[inline]
+    fn as_ref(&self) -> &[u8] { self }
+}
+
+impl Borrow<[u8]> for SerializedSignature {
+    #[inline]
+    fn borrow(&self) -> &[u8] { self }
+}
+
+impl ops::Deref for SerializedSignature {
+    type Target = [u8];
+
+    #[inline]
+    fn deref(&self) -> &[u8] { &self.data[..self.len] }
+}
+
+impl Eq for SerializedSignature {}
+
+impl IntoIterator for SerializedSignature {
+    type IntoIter = IntoIter;
+    type Item = u8;
+
+    #[inline]
+    fn into_iter(self) -> Self::IntoIter { IntoIter::new(self) }
+}
+
+impl<'a> IntoIterator for &'a SerializedSignature {
+    type IntoIter = core::slice::Iter<'a, u8>;
+    type Item = &'a u8;
+
+    #[inline]
+    fn into_iter(self) -> Self::IntoIter { self.iter() }
+}
+
+impl From<Signature> for SerializedSignature {
+    fn from(value: Signature) -> Self {
+        Self::from_signature(&value)
+    }
+}
+
+impl<'a> From<&'a Signature> for SerializedSignature {
+    fn from(value: &'a Signature) -> Self {
+        Self::from_signature(value)
+    }
+}
+
+impl TryFrom<SerializedSignature> for Signature {
+    type Error = SigFromSliceError;
+
+    fn try_from(value: SerializedSignature) -> Result<Self, Self::Error> {
+        value.to_signature()
+    }
+}
+
+impl<'a> TryFrom<&'a SerializedSignature> for Signature {
+    type Error = SigFromSliceError;
+
+    fn try_from(value: &'a SerializedSignature) -> Result<Self, Self::Error> {
+        value.to_signature()
+    }
+}
+
+impl SerializedSignature {
+    /// Creates `SerializedSignature` from data and length.
+    ///
+    /// ## Panics
+    ///
+    /// If `len` > `MAX_LEN`
+    #[inline]
+    pub(crate) fn from_raw_parts(data: [u8; MAX_LEN], len: usize) -> Self {
+        assert!(len <= MAX_LEN, "attempt to set length to {} but the maximum is {}", len, MAX_LEN);
+        SerializedSignature { data, len }
+    }
+
+    /// Get the len of the used data.
+    // `len` is never 0, so `is_empty` would always return `false`.
+    #[allow(clippy::len_without_is_empty)]
+    #[inline]
+    pub fn len(&self) -> usize { self.len }
+
+    /// Set the length of the object.
+    #[inline]
+    pub(crate) fn set_len_unchecked(&mut self, len: usize) { self.len = len; }
+
+    /// Convert the serialized signature into the Signature struct.
+    /// (This deserializes it)
+    #[inline]
+    pub fn to_signature(&self) -> Result<Signature, SigFromSliceError> { Signature::from_slice(self) }
+
+    /// Create a SerializedSignature from a Signature.
+    /// (this serializes it)
+    #[inline]
+    pub fn from_signature(sig: &Signature) -> SerializedSignature { sig.serialize() }
+}
+
+/// Separate mod to prevent outside code from accidentally breaking invariants.
+mod into_iter {
+    use super::*;
+
+    /// Owned iterator over the bytes of [`SerializedSignature`]
+    ///
+    /// Created by [`IntoIterator::into_iter`] method.
+    // allowed because of https://github.com/rust-lang/rust/issues/98348
+    #[allow(missing_copy_implementations)]
+    #[derive(Debug, Clone)]
+    pub struct IntoIter {
+        signature: SerializedSignature,
+        // invariant: pos <= signature.len()
+        pos: usize,
+    }
+
+    impl IntoIter {
+        #[inline]
+        pub(crate) fn new(signature: SerializedSignature) -> Self {
+            IntoIter {
+                signature,
+                // for all unsigned n: 0 <= n
+                pos: 0,
+            }
+        }
+
+        /// Returns the remaining bytes as a slice.
+        ///
+        /// This method is analogous to [`core::slice::Iter::as_slice`].
+        #[inline]
+        pub fn as_slice(&self) -> &[u8] { &self.signature[self.pos..] }
+    }
+
+    impl Iterator for IntoIter {
+        type Item = u8;
+
+        #[inline]
+        fn next(&mut self) -> Option<Self::Item> {
+            let byte = *self.signature.get(self.pos)?;
+            // can't overflow or break invariant because if pos is too large we return early
+            self.pos += 1;
+            Some(byte)
+        }
+
+        #[inline]
+        fn size_hint(&self) -> (usize, Option<usize>) {
+            // can't underlflow thanks to the invariant
+            let len = self.signature.len() - self.pos;
+            (len, Some(len))
+        }
+
+        // override for speed
+        #[inline]
+        fn nth(&mut self, n: usize) -> Option<Self::Item> {
+            if n >= self.len() {
+                // upholds invariant becasue the values will be equal
+                self.pos = self.signature.len();
+                None
+            } else {
+                // if n < signtature.len() - self.pos then n + self.pos < signature.len() which neither
+                // overflows nor breaks the invariant
+                self.pos += n;
+                self.next()
+            }
+        }
+    }
+
+    impl ExactSizeIterator for IntoIter {}
+
+    impl core::iter::FusedIterator for IntoIter {}
+
+    impl DoubleEndedIterator for IntoIter {
+        #[inline]
+        fn next_back(&mut self) -> Option<Self::Item> {
+            if self.pos == self.signature.len() {
+                return None;
+            }
+
+            // if len is 0 then pos is also 0 thanks to the invariant so we would return before we
+            // reach this
+            let new_len = self.signature.len() - 1;
+            let byte = self.signature[new_len];
+            self.signature.set_len_unchecked(new_len);
+            Some(byte)
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::{SerializedSignature, MAX_LEN};
+
+    #[test]
+    fn iterator_ops_are_homomorphic() {
+        let mut fake_signature_data = [0; MAX_LEN];
+        for (i, byte) in fake_signature_data.iter_mut().enumerate() {
+            *byte = i as u8;
+        }
+
+        let fake_signature = SerializedSignature { data: fake_signature_data, len: MAX_LEN };
+
+        let mut iter1 = fake_signature.into_iter();
+        let mut iter2 = fake_signature.iter();
+
+        // while let so we can compare size_hint and as_slice
+        while let (Some(a), Some(b)) = (iter1.next(), iter2.next()) {
+            assert_eq!(a, *b);
+            assert_eq!(iter1.size_hint(), iter2.size_hint());
+            assert_eq!(iter1.as_slice(), iter2.as_slice());
+        }
+
+        let mut iter1 = fake_signature.into_iter();
+        let mut iter2 = fake_signature.iter();
+
+        // manual next_back instead of rev() so that we can check as_slice()
+        // if next_back is implemented correctly then rev() is also correct - provided by `core`
+        while let (Some(a), Some(b)) = (iter1.next_back(), iter2.next_back()) {
+            assert_eq!(a, *b);
+            assert_eq!(iter1.size_hint(), iter2.size_hint());
+            assert_eq!(iter1.as_slice(), iter2.as_slice());
+        }
+    }
+}