Same environment, same failure:  this is my config line: 

./configure --prefix /usr/local/php5 --with-openssl=/usr/LOCAL/ssl --
with-zlib=/usr/LOCAL --with-curl --enable-ftp --with-mysql=mysqlnd --
with-pdo-mysql=mysqlnd  --with-xsl=/usr/local/php5 --with-gd --with-
jpeg-dir=/usr/local --with-png-dir=/usr/local --with-mcrypt=/usr/local 
--enable-exif --enable-sqlite-utf8 --enable-zip  --with-pear --with-
libxml-dir=/usr/local/php5

and my result (looks much like the one reported)

In file included from /usr/local/src/php/php-
5.3.0/ext/mysqlnd/mysqlnd.h:59,
                 from /usr/local/src/php/php-
5.3.0/ext/mysqlnd/mysqlnd_palloc.c:23:
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_portability.h:471:1: 
warning: "float8get" redefined
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_portability.h:423:1: 
warning: this is the location of the previous definition
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_portability.h:472:1: 
warning: "float8store" redefined
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_portability.h:413:1: 
warning: this is the location of the previous definition
/bin/sh /usr/local/src/php/php-5.3.0/libtool --silent --preserve-dup-
deps --mode=compile gcc  -Iext/mysqlnd/ -I/usr/local/src/php/php-
5.3.0/ext/mysqlnd/ -DPHP_ATOM_INC -I/usr/local/src/php/php-
5.3.0/include -I/usr/local/src/php/php-5.3.0/main -
I/usr/local/src/php/php-5.3.0 -I/usr/local/src/php/php-
5.3.0/ext/date/lib -I/usr/local/src/php/php-5.3.0/ext/ereg/regex -
I/usr/local/php5/include/libxml2 -I/usr/LOCAL/ssl/include -
I/usr/LOCAL/include -I/usr/local/include -I/usr/local/src/php/php-
5.3.0/ext/sqlite3/libsqlite -I/usr/local/php5/include -
I/usr/local/src/php/php-5.3.0/TSRM -I/usr/local/src/php/php-5.3.0/Zend  
-D_POSIX_PTHREAD_SEMANTICS  -I/usr/local/include  -c 
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_ps_codec.c -o 
ext/mysqlnd/mysqlnd_ps_codec.lo 
In file included from /usr/local/src/php/php-
5.3.0/ext/mysqlnd/mysqlnd.h:59,
                 from /usr/local/src/php/php-
5.3.0/ext/mysqlnd/mysqlnd_ps_codec.c:23:
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_portability.h:471:1: 
warning: "float8get" redefined
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_portability.h:423:1: 
warning: this is the location of the previous definition
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_portability.h:472:1: 
warning: "float8store" redefined
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_portability.h:413:1: 
warning: this is the location of the previous definition
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_ps_codec.c: In 
function `ps_fetch_from_1_to_8_bytes':
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_ps_codec.c:82: error: 
`MYSQLND_LLU_SPEC' undeclared (first use in this function)
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_ps_codec.c:82: error: 
(Each undeclared identifier is reported only once
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_ps_codec.c:82: error: 
for each function it appears in.)
/usr/local/src/php/php-5.3.0/ext/mysqlnd/mysqlnd_ps_codec.c:111: 
error: `MYSQLND_LL_SPEC' undeclared (first use in this function)
make: *** [ext/mysqlnd/mysqlnd_ps_codec.lo] Error 1

This bug has been fixed in SVN.

Snapshots of the sources are packaged every three hours; this change
will be in the next snapshot. You can grab the snapshot at
http://snaps.php.net/.
 
Thank you for the report, and for helping us make PHP better.