diff --git a/autograd/numpy/linalg.py b/autograd/numpy/linalg.py
index 10e1e96e4..884c496c7 100644
--- a/autograd/numpy/linalg.py
+++ b/autograd/numpy/linalg.py
@@ -74,10 +74,18 @@ def check_implemented():
             unroll = lambda a: anp.rollaxis(anp.rollaxis(a, a.ndim-2, row_axis),
                                             a.ndim-1, col_axis)
 
+    # Used for returning zero gradient of zero norms
+    replace_zero     = lambda x, val: anp.where(x, x, val)
+    # For manually set the second derivative of norm to zero, to match np.abs()
+    replace_zero_ans = lambda x, val: anp.where(expand(ans), x, val)
+
     check_implemented()
     def vjp(g):
         if ord is None or ord == 2 or ord is 'fro':
-            return expand(g / ans) * x
+            # The gradient is 1 / ans * x
+            # FIXME: when x is complex vector, the gradient seems to be:
+            #        1 / ans * conj(x)
+            return expand(g / replace_zero(ans, 1.)) * replace_zero_ans(x, 0.)
         elif ord == 'nuc':
             dot = anp.dot if x.ndim == 2 else partial(anp.einsum, '...ij,...jk->...ik')
             x_rolled = roll(x)
@@ -88,8 +96,14 @@ def vjp(g):
             g = expand(g)
             return g * uvt
         else:
-            # see https://en.wikipedia.org/wiki/Norm_(mathematics)#p-norm
-            return expand(g / ans**(ord-1)) * x * anp.abs(x)**(ord-2)
+            # See https://en.wikipedia.org/wiki/Norm_(mathematics)#p-norm
+            # The gradient is 1 / ans**(ord-1) * abs(x)**(ord-1) * sign(x)
+            # Use `abs(x)**(ord-1) * sign(x)` instead of `abs(x)**(ord-2) * x`
+            # avoids NaN when x contains zero.
+            # FIXME: when x is complex vector, the gradient seems to be:
+            #        1 / ans**(ord-1) * abs(x)**(ord-1) * conj(x) / abs(x)
+            return expand(g / replace_zero(ans**(ord-1), 1.0)) \
+                   * anp.abs(x)**(ord-1) * anp.sign(x)
     return vjp
 defvjp(norm, grad_norm)
 
diff --git a/tests/test_linalg.py b/tests/test_linalg.py
index a79ea6c0d..42b7b560e 100644
--- a/tests/test_linalg.py
+++ b/tests/test_linalg.py
@@ -152,6 +152,26 @@ def fun(x): return np.linalg.norm(x, ord='nuc', axis=(0, 1))
     mat = npr.randn(D, D-1, D-2)
     check_grads(fun)(mat)
 
+def test_vector_zero_norm():
+    def helper(size, ord):
+        def fun(x): return np.linalg.norm(x, ord=ord)
+        vec = np.zeros(size)
+        check_grads(fun, order=1)(vec)
+    for ord in [1.1, 2, 3]:
+        for size in [1, 2]:
+            yield helper, size, ord
+
+def test_vector_mix_zero_norm_axis():
+    def helper(axis, ord):
+        def fun(x): return np.linalg.norm(x, ord=ord, axis=axis)
+        size = (2,2)
+        vecs = np.zeros(size)
+        vecs[0,0] = npr.randn(1)
+        check_grads(fun, order=1)(vecs)
+    for axis in [0, 1]:
+        for ord in [1.1, 2]:
+            yield helper, axis, ord
+
 def test_eigvalh_lower():
     def fun(x):
         w, v = np.linalg.eigh(x)