diff --git a/drivers/CMakeLists.txt b/drivers/CMakeLists.txt
index ad62808a45..256ff5b558 100644
--- a/drivers/CMakeLists.txt
+++ b/drivers/CMakeLists.txt
@@ -3,7 +3,7 @@
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
     if(BUILD_GREENTEA_TESTS)
-        # add greentea test
+        add_subdirectory(tests/TESTS)
     else()
         add_subdirectory(tests/UNITTESTS)
     endif()
diff --git a/drivers/tests/TESTS/CMakeLists.txt b/drivers/tests/TESTS/CMakeLists.txt
new file mode 100644
index 0000000000..ec9280fee9
--- /dev/null
+++ b/drivers/tests/TESTS/CMakeLists.txt
@@ -0,0 +1,4 @@
+# Copyright (c) 2021 ARM Limited. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+add_subdirectory(mbed_drivers/ticker)
diff --git a/drivers/tests/TESTS/mbed_drivers/ticker/CMakeLists.txt b/drivers/tests/TESTS/mbed_drivers/ticker/CMakeLists.txt
index 6aed7b9a70..cdc28e4ca1 100644
--- a/drivers/tests/TESTS/mbed_drivers/ticker/CMakeLists.txt
+++ b/drivers/tests/TESTS/mbed_drivers/ticker/CMakeLists.txt
@@ -1,18 +1,13 @@
 # Copyright (c) 2020 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
-
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-drivers-ticker)
-
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+include(mbed_greentea)
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-drivers-ticker
     TEST_SOURCES
         main.cpp
+    HOST_TESTS_DIR
+        "${CMAKE_CURRENT_LIST_DIR}/../../host_tests"
 )
diff --git a/tools/cmake/mbed_greentea.cmake b/tools/cmake/mbed_greentea.cmake
index ffe73ed0f1..be37e29da7 100644
--- a/tools/cmake/mbed_greentea.cmake
+++ b/tools/cmake/mbed_greentea.cmake
@@ -3,10 +3,15 @@
 
 option(MBED_TEST_BAREMETAL OFF)
 
-set(MBED_CONFIG_PATH ${CMAKE_CURRENT_BINARY_DIR} CACHE INTERNAL "")
+set(MBED_HTRUN_ARGUMENTS "" CACHE STRING "Argument list to forward to htrun.")
 
-include(${CMAKE_CURRENT_LIST_DIR}/app.cmake)
-set(MBED_ROOT ${CMAKE_CURRENT_LIST_DIR}/../.. CACHE INTERNAL "")
+# TODO: After we convert all greentea tests to use CTest, remove this code. We
+# define these parameters in mbed-os/CMakeLists.txt for greentea tests.
+if(NOT BUILD_GREENTEA_TESTS)
+    set(MBED_CONFIG_PATH ${CMAKE_CURRENT_BINARY_DIR} CACHE INTERNAL "")
+    include(${CMAKE_CURRENT_LIST_DIR}/app.cmake)
+    set(MBED_ROOT ${CMAKE_CURRENT_LIST_DIR}/../.. CACHE INTERNAL "")
+endif()
 
 # CMake Macro for generalizing CMake configuration across the greentea test suite with configurable parameters
 # Macro args:
@@ -30,6 +35,7 @@ macro(mbed_greentea_add_test)
         TEST_INCLUDE_DIRS
         TEST_SOURCES
         TEST_REQUIRED_LIBS
+        HOST_TESTS_DIR
     )
     cmake_parse_arguments(MBED_GREENTEA
         "${options}"
@@ -37,13 +43,16 @@ macro(mbed_greentea_add_test)
         "${multipleValueArgs}"
         ${ARGN}
     )
-    add_subdirectory(${MBED_ROOT} build)
+
+    # TODO: After we convert all greentea tests to use CTest, remove this
+    # add_subdirectory call. We will attach the tests to the mbed-os project,
+    # rather than creating a new project for each test that depends on mbed-os.
+    if(NOT BUILD_GREENTEA_TESTS)
+        add_subdirectory(${MBED_ROOT} build)
+    endif()
 
     add_executable(${MBED_GREENTEA_TEST_NAME})
 
-    # Explicitly enable BUILD_TESTING until CTest is added to the Greentea client
-    set(BUILD_TESTING ON)
-
     target_include_directories(${MBED_GREENTEA_TEST_NAME}
         PRIVATE
             .
@@ -70,6 +79,35 @@ macro(mbed_greentea_add_test)
 
     mbed_set_post_build(${MBED_GREENTEA_TEST_NAME})
 
+    if(NOT ${MBED_OUTPUT_EXT} STREQUAL "")
+        set(MBED_GREENTEA_TEST_IMAGE_NAME "${MBED_GREENTEA_TEST_NAME}.${MBED_OUTPUT_EXT}")
+    else()
+        set(MBED_GREENTEA_TEST_IMAGE_NAME "${MBED_GREENTEA_TEST_NAME}.bin")
+    endif()
+
+    if(DEFINED MBED_GREENTEA_HOST_TESTS_DIR)
+        list(APPEND MBED_HTRUN_ARGUMENTS "-e;${MBED_GREENTEA_HOST_TESTS_DIR}")
+    endif()
+
+    if(DEFINED MBED_TARGET)
+        list(APPEND MBED_HTRUN_ARGUMENTS "-m;${MBED_TARGET}")
+    endif()
+
+    list(APPEND CONFIG_DEFS_COPY ${MBED_CONFIG_DEFINITIONS})
+    list(FILTER CONFIG_DEFS_COPY INCLUDE REGEX "MBED_CONF_PLATFORM_STDIO_BAUD_RATE")
+    if(NOT ${CONFIG_DEFS_COPY} STREQUAL "")
+        string(REGEX MATCH "[0-9]*$" BAUD_RATE ${CONFIG_DEFS_COPY})
+        list(APPEND MBED_HTRUN_ARGUMENTS "--baud-rate=${BAUD_RATE}")
+    endif()
+
+    add_test(
+        NAME ${MBED_GREENTEA_TEST_NAME}
+        COMMAND mbedhtrun
+            -f ${MBED_GREENTEA_TEST_IMAGE_NAME}
+            ${MBED_HTRUN_ARGUMENTS}
+        COMMAND_EXPAND_LISTS
+    )
+
     option(VERBOSE_BUILD "Have a verbose build process")
     if(VERBOSE_BUILD)
         set(CMAKE_VERBOSE_MAKEFILE ON)