We present a novel technique for the imposition of non-linear entropy conservative and entropy stable solid wall boundary conditions for the compressible Navier–Stokes equations in the presence of an adiabatic wall, or a wall with a prescribed heat entropy flow. The procedure relies on the formalism and mimetic properties of diagonal-norm, summation-by-parts and simultaneous-approximation-term operators, and is a generalization of previous works on discontinuous interface coupling  and solid wall boundary conditions . Using the method of lines, a semi-discrete entropy estimate for the entire domain is obtained when the proposed numerical imposition of boundary conditions are coupled with an entropy-conservative or entropy-stable discrete interior operator. The resulting estimate mimics the global entropy estimate obtained at the continuous level. The boundary data at the wall are weakly imposed using a penalty flux approach and a simultaneous-approximation-term technique for both the conservative variables and the gradient of the entropy variables. Discontinuous spectral collocation operators (mass lumped nodal discontinuous Galerkin operators), on high-order unstructured grids, are used for the purpose of demonstrating the robustness and efficacy of the new procedure for weakly enforcing boundary conditions. Numerical simulations confirm the non-linear stability of the proposed technique, with applications to three-dimensional subsonic and supersonic flows. The procedure described is compatible with any diagonal-norm summation-by-parts spatial operator, including finite element, finite difference, finite volume, discontinuous Galerkin, and flux reconstruction schemes.