diff --git a/TESTS/mbed_drivers/watchdog/main.cpp b/TESTS/mbed_drivers/watchdog/main.cpp
index 26fd84b0f1..07502f3d77 100644
--- a/TESTS/mbed_drivers/watchdog/main.cpp
+++ b/TESTS/mbed_drivers/watchdog/main.cpp
@@ -73,18 +73,6 @@ using utest::v1::Harness;
 
 using namespace mbed;
 
-Thread wdg_kicking_thread(osPriorityNormal, 768);
-Semaphore kick_wdg_during_test_teardown(0, 1);
-
-void wdg_kicking_thread_fun()
-{
-    kick_wdg_during_test_teardown.wait();
-    while (true) {
-        hal_watchdog_kick();
-        wait_ms(20);
-    }
-}
-
 void test_max_timeout_is_valid()
 {
     Watchdog &watchdog = Watchdog::get_instance();
@@ -172,8 +160,10 @@ utest::v1::status_t case_teardown_sync_on_reset(const Case *const source, const
     if (CASE_IGNORED) {
         return utest::v1::greentea_case_teardown_handler(source, passed, failed, failure);
     }
-    // Unlock kicking the watchdog during teardown.
-    kick_wdg_during_test_teardown.release();
+    // Start kicking the watchdog during teardown.
+    hal_watchdog_kick();
+    Ticker wdg_kicking_ticker;
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000);
     utest::v1::status_t status = utest::v1::greentea_case_teardown_handler(source, passed, failed, failure);
     if (failed) {
         /* Return immediately and skip the device reset, if the test case failed.
@@ -260,10 +250,6 @@ int testsuite_setup_sync_on_reset(const size_t number_of_cases)
         return utest::v1::STATUS_ABORT;
     }
 
-    // The thread is started here, but feeding the watchdog will start
-    // when the semaphore is released during a test case teardown.
-    wdg_kicking_thread.start(mbed::callback(wdg_kicking_thread_fun));
-
     utest_printf("Starting with test case index %i of all %i defined test cases.\n", CASE_INDEX_START, number_of_cases);
     return CASE_INDEX_START;
 }
diff --git a/TESTS/mbed_drivers/watchdog_reset/main.cpp b/TESTS/mbed_drivers/watchdog_reset/main.cpp
index 303d102946..e633e6d0b3 100644
--- a/TESTS/mbed_drivers/watchdog_reset/main.cpp
+++ b/TESTS/mbed_drivers/watchdog_reset/main.cpp
@@ -90,18 +90,7 @@ struct testcase_data {
 
 testcase_data current_case;
 
-Thread wdg_kicking_thread(osPriorityNormal, 768);
-Semaphore kick_wdg_during_test_teardown(0, 1);
-
-void wdg_kicking_thread_fun()
-{
-    kick_wdg_during_test_teardown.acquire();
-    Watchdog &watchdog = Watchdog::get_instance();
-    while (true) {
-        watchdog.kick();
-        wait_us(20000);
-    }
-}
+Ticker wdg_kicking_ticker;
 
 bool send_reset_notification(testcase_data *tcdata, uint32_t delay_ms)
 {
@@ -140,7 +129,8 @@ void test_simple_reset()
 
     // Watchdog reset should have occurred during a wait above.
 
-    kick_wdg_during_test_teardown.release(); // For testsuite failure handling.
+    hal_watchdog_kick();
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000); // For testsuite failure handling.
     TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
 }
 
@@ -174,7 +164,8 @@ void test_sleep_reset()
 
     // Watchdog reset should have occurred during the sleep above.
 
-    kick_wdg_during_test_teardown.release(); // For testsuite failure handling.
+    hal_watchdog_kick();
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000); // For testsuite failure handling.
     TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
 }
 
@@ -210,7 +201,8 @@ void test_deepsleep_reset()
 
     // Watchdog reset should have occurred during the deepsleep above.
 
-    kick_wdg_during_test_teardown.release(); // For testsuite failure handling.
+    hal_watchdog_kick();
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000); // For testsuite failure handling.
     TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
 }
 #endif
@@ -255,7 +247,8 @@ void test_restart_reset()
 
     // Watchdog reset should have occurred during a wait above.
 
-    kick_wdg_during_test_teardown.release(); // For testsuite failure handling.
+    hal_watchdog_kick();
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000); // For testsuite failure handling.
     TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
 }
 
@@ -288,7 +281,8 @@ void test_kick_reset()
 
     // Watchdog reset should have occurred during a wait above.
 
-    kick_wdg_during_test_teardown.release(); // For testsuite failure handling.
+    hal_watchdog_kick();
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000); // For testsuite failure handling.
     TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
 }
 
@@ -323,10 +317,6 @@ int testsuite_setup(const size_t number_of_cases)
         return utest::v1::STATUS_ABORT;
     }
 
-    // The thread is started here, but feeding the watchdog will start
-    // when the semaphore is released during a test case teardown.
-    wdg_kicking_thread.start(mbed::callback(wdg_kicking_thread_fun));
-
     utest_printf("This test suite is composed of %i test cases. Starting at index %i.\n", number_of_cases,
                  current_case.start_index);
     return current_case.start_index;
diff --git a/TESTS/mbed_hal/watchdog/main.cpp b/TESTS/mbed_hal/watchdog/main.cpp
index 71aaa2da3a..8504da581c 100644
--- a/TESTS/mbed_hal/watchdog/main.cpp
+++ b/TESTS/mbed_hal/watchdog/main.cpp
@@ -73,18 +73,6 @@ using utest::v1::Harness;
 
 const watchdog_config_t WDG_CONFIG_DEFAULT = { .timeout_ms = WDG_TIMEOUT_MS };
 
-Thread wdg_kicking_thread(osPriorityNormal, 768);
-Semaphore kick_wdg_during_test_teardown(0, 1);
-
-void wdg_kicking_thread_fun()
-{
-    kick_wdg_during_test_teardown.wait();
-    while (true) {
-        hal_watchdog_kick();
-        wait_ms(20);
-    }
-}
-
 void test_max_timeout_is_valid()
 {
     TEST_ASSERT(hal_watchdog_get_platform_features().max_timeout > 1UL);
@@ -168,8 +156,10 @@ utest::v1::status_t case_teardown_sync_on_reset(const Case *const source, const
     if (CASE_IGNORED) {
         return utest::v1::greentea_case_teardown_handler(source, passed, failed, failure);
     }
-    // Unlock kicking the watchdog during teardown.
-    kick_wdg_during_test_teardown.release();
+    // Start kicking the watchdog during teardown.
+    hal_watchdog_kick();
+    Ticker wdg_kicking_ticker;
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000);
     utest::v1::status_t status = utest::v1::greentea_case_teardown_handler(source, passed, failed, failure);
     if (failed) {
         /* Return immediately and skip the device reset, if the test case failed.
@@ -256,10 +246,6 @@ int testsuite_setup_sync_on_reset(const size_t number_of_cases)
         return utest::v1::STATUS_ABORT;
     }
 
-    // The thread is started here, but feeding the watchdog will start
-    // when the semaphore is released during a test case teardown.
-    wdg_kicking_thread.start(mbed::callback(wdg_kicking_thread_fun));
-
     utest_printf("Starting with test case index %i of all %i defined test cases.\n", CASE_INDEX_START, number_of_cases);
     return CASE_INDEX_START;
 }
diff --git a/TESTS/mbed_hal/watchdog_reset/main.cpp b/TESTS/mbed_hal/watchdog_reset/main.cpp
index a80f6d9d1d..8d1c28e30a 100644
--- a/TESTS/mbed_hal/watchdog_reset/main.cpp
+++ b/TESTS/mbed_hal/watchdog_reset/main.cpp
@@ -88,17 +88,7 @@ struct testcase_data {
 
 testcase_data current_case;
 
-Thread wdg_kicking_thread(osPriorityNormal, 768);
-Semaphore kick_wdg_during_test_teardown(0, 1);
-
-void wdg_kicking_thread_fun()
-{
-    kick_wdg_during_test_teardown.acquire();
-    while (true) {
-        hal_watchdog_kick();
-        wait_us(20000);
-    }
-}
+Ticker wdg_kicking_ticker;
 
 bool send_reset_notification(testcase_data *tcdata, uint32_t delay_ms)
 {
@@ -135,7 +125,8 @@ void test_simple_reset()
 
     // Watchdog reset should have occurred during a wait above.
 
-    kick_wdg_during_test_teardown.release(); // For testsuite failure handling.
+    hal_watchdog_kick();
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000); // For testsuite failure handling.
     TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
 }
 
@@ -167,7 +158,8 @@ void test_sleep_reset()
 
     // Watchdog reset should have occurred during the sleep above.
 
-    kick_wdg_during_test_teardown.release(); // For testsuite failure handling.
+    hal_watchdog_kick();
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000); // For testsuite failure handling.
     TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
 }
 
@@ -201,7 +193,8 @@ void test_deepsleep_reset()
 
     // Watchdog reset should have occurred during the deepsleep above.
 
-    kick_wdg_during_test_teardown.release(); // For testsuite failure handling.
+    hal_watchdog_kick();
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000); // For testsuite failure handling.
     TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
 }
 #endif
@@ -242,7 +235,8 @@ void test_restart_reset()
 
     // Watchdog reset should have occurred during a wait above.
 
-    kick_wdg_during_test_teardown.release(); // For testsuite failure handling.
+    hal_watchdog_kick();
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000); // For testsuite failure handling.
     TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
 }
 
@@ -273,7 +267,8 @@ void test_kick_reset()
 
     // Watchdog reset should have occurred during a wait above.
 
-    kick_wdg_during_test_teardown.release(); // For testsuite failure handling.
+    hal_watchdog_kick();
+    wdg_kicking_ticker.attach_us(mbed::callback(hal_watchdog_kick), 20000); // For testsuite failure handling.
     TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
 }
 
@@ -308,10 +303,6 @@ int testsuite_setup(const size_t number_of_cases)
         return utest::v1::STATUS_ABORT;
     }
 
-    // The thread is started here, but feeding the watchdog will start
-    // when the semaphore is released during a test case teardown.
-    wdg_kicking_thread.start(mbed::callback(wdg_kicking_thread_fun));
-
     utest_printf("This test suite is composed of %i test cases. Starting at index %i.\n", number_of_cases,
                  current_case.start_index);
     return current_case.start_index;