diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4fe24472f1..b5b027c9b6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -257,7 +257,6 @@ add_subdirectory(connectivity)
 
 # The directories below contain optional target libraries
 add_subdirectory(drivers/device_key EXCLUDE_FROM_ALL)
-add_subdirectory(drivers/usb EXCLUDE_FROM_ALL)
 add_subdirectory(features EXCLUDE_FROM_ALL)
 add_subdirectory(cmsis/CMSIS_5/CMSIS/RTOS2 EXCLUDE_FROM_ALL)
 add_subdirectory(cmsis/device/rtos EXCLUDE_FROM_ALL)
diff --git a/drivers/CMakeLists.txt b/drivers/CMakeLists.txt
index dc5c85e79b..d74e1eb593 100644
--- a/drivers/CMakeLists.txt
+++ b/drivers/CMakeLists.txt
@@ -53,3 +53,4 @@ target_sources(mbed-core-sources
         source/Watchdog.cpp
 )
 
+add_subdirectory(usb)
diff --git a/drivers/usb/CMakeLists.txt b/drivers/usb/CMakeLists.txt
index 98f51d2637..bfc3578bac 100644
--- a/drivers/usb/CMakeLists.txt
+++ b/drivers/usb/CMakeLists.txt
@@ -1,17 +1,14 @@
 # Copyright (c) 2020 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-add_library(mbed-usb INTERFACE)
+if(MBED_ENABLE_OS_INTERNAL_TESTS)
+    if(MBED_BUILD_GREENTEA_TESTS)
+        add_subdirectory(tests/TESTS)
+    endif()
+endif()
 
-target_include_directories(mbed-usb
-    INTERFACE
-        include
-        include/usb
-        include/usb/internal
-)
-
-target_sources(mbed-usb
-    INTERFACE
+if("DEVICE_USBDEVICE=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    add_library(mbed-usb STATIC EXCLUDE_FROM_ALL
         source/AsyncOp.cpp
         source/ByteBuffer.cpp
         source/EndpointResolver.cpp
@@ -21,15 +18,43 @@ target_sources(mbed-usb
         source/TaskBase.cpp
         source/USBAudio.cpp
         source/USBCDC.cpp
-        source/USBCDC_ECM.cpp
         source/USBDevice.cpp
         source/USBHID.cpp
         source/USBKeyboard.cpp
         source/USBMIDI.cpp
-        source/USBMSD.cpp
         source/USBMouse.cpp
         source/USBMouseKeyboard.cpp
-        source/USBSerial.cpp
-)
+        source/USBSerial.cpp)
 
-target_link_libraries(mbed-usb INTERFACE mbed-storage)
+    target_include_directories(mbed-usb
+        PUBLIC
+            include
+            include/usb
+            include/usb/internal
+    )
+
+    target_link_libraries(mbed-usb PUBLIC mbed-core-flags)
+
+    # USB Mass Storage Device library is separate because it pulls in a dependency on mbed-storage-blockdevice
+    add_library(mbed-usb-msd STATIC EXCLUDE_FROM_ALL
+        source/msd/USBMSD.cpp)
+
+    target_include_directories(mbed-usb-msd
+        PUBLIC
+            include/usb/msd
+    )
+
+    target_link_libraries(mbed-usb-msd PUBLIC mbed-usb mbed-storage-blockdevice)
+
+    # USB CDC ECM library is separate because it pulls in a dependency on mbed-rtos-flags
+    add_library(mbed-usb-cdc-ecm STATIC EXCLUDE_FROM_ALL
+        source/cdc_ecm/USBCDC_ECM.cpp)
+
+
+    target_include_directories(mbed-usb-cdc-ecm
+        PUBLIC
+            include/usb/cdc_ecm
+    )
+
+    target_link_libraries(mbed-usb-cdc-ecm PUBLIC mbed-usb mbed-rtos-flags)
+endif()
\ No newline at end of file
diff --git a/drivers/usb/include/usb/USBCDC_ECM.h b/drivers/usb/include/usb/cdc_ecm/USBCDC_ECM.h
similarity index 100%
rename from drivers/usb/include/usb/USBCDC_ECM.h
rename to drivers/usb/include/usb/cdc_ecm/USBCDC_ECM.h
diff --git a/drivers/usb/include/usb/USBMSD.h b/drivers/usb/include/usb/msd/USBMSD.h
similarity index 100%
rename from drivers/usb/include/usb/USBMSD.h
rename to drivers/usb/include/usb/msd/USBMSD.h
diff --git a/drivers/usb/source/USBCDC_ECM.cpp b/drivers/usb/source/cdc_ecm/USBCDC_ECM.cpp
similarity index 100%
rename from drivers/usb/source/USBCDC_ECM.cpp
rename to drivers/usb/source/cdc_ecm/USBCDC_ECM.cpp
diff --git a/drivers/usb/source/USBMSD.cpp b/drivers/usb/source/msd/USBMSD.cpp
similarity index 100%
rename from drivers/usb/source/USBMSD.cpp
rename to drivers/usb/source/msd/USBMSD.cpp
diff --git a/drivers/usb/tests/TESTS/CMakeLists.txt b/drivers/usb/tests/TESTS/CMakeLists.txt
new file mode 100644
index 0000000000..294b423419
--- /dev/null
+++ b/drivers/usb/tests/TESTS/CMakeLists.txt
@@ -0,0 +1 @@
+add_subdirectory(usb_device)
\ No newline at end of file
diff --git a/drivers/usb/tests/TESTS/host_tests/usb_device_serial.py b/drivers/usb/tests/TESTS/host_tests/usb_device_serial.py
index d462d761e9..cf281bcdde 100644
--- a/drivers/usb/tests/TESTS/host_tests/usb_device_serial.py
+++ b/drivers/usb/tests/TESTS/host_tests/usb_device_serial.py
@@ -27,6 +27,12 @@ import serial.tools.list_ports as stlp
 import six
 import mbed_host_tests
 
+# Pyserial 3.5 has a compatibility breaking capitalization change :((
+try:
+    from serial import portNotOpenError as PortNotOpenError
+except ImportError:
+    from serial import PortNotOpenError as PortNotOpenError
+
 
 MSG_KEY_DEVICE_READY = 'ready'
 MSG_KEY_SERIAL_NUMBER = 'usb_dev_sn'
@@ -130,7 +136,11 @@ class USBSerialTest(mbed_host_tests.BaseHostTest):
 
     def port_open_wait(self):
         """Open the serial and wait until it's closed by the device."""
-        mbed_serial = serial.Serial(dsrdtr=False)
+
+        # Note: Need to set dsrdtr on open to true to avoid exception on Linux
+        # https://github.com/pyserial/pyserial/issues/67
+        mbed_serial = serial.Serial(dsrdtr=True)
+
         mbed_serial.dtr = False
         try:
             mbed_serial.port = retry_fun_call(
@@ -148,12 +158,12 @@ class USBSerialTest(mbed_host_tests.BaseHostTest):
         mbed_serial.dtr = True
         try:
             mbed_serial.read()  # wait until closed
-        except (serial.portNotOpenError, serial.SerialException):
+        except (PortNotOpenError, serial.SerialException):
             pass
 
     def port_open_close(self):
         """Open the serial and close it with a delay."""
-        mbed_serial = serial.Serial(timeout=0.5, write_timeout=0.1, dsrdtr=False)
+        mbed_serial = serial.Serial(timeout=0.5, write_timeout=0.1, dsrdtr=True)
         mbed_serial.dtr = False
         try:
             mbed_serial.port = retry_fun_call(
@@ -179,7 +189,7 @@ class USBSerialTest(mbed_host_tests.BaseHostTest):
         chunk_size defines the size of data sent in each write operation.
         The input buffer content is discarded.
         """
-        mbed_serial = serial.Serial(write_timeout=0.1, dsrdtr=False)
+        mbed_serial = serial.Serial(write_timeout=0.1, dsrdtr=True)
         try:
             mbed_serial.port = retry_fun_call(
                 fun=functools.partial(self.get_usb_serial_name, self.dut_usb_dev_sn),  # pylint: disable=not-callable
@@ -214,7 +224,7 @@ class USBSerialTest(mbed_host_tests.BaseHostTest):
 
     def loopback(self):
         """Open the serial and send back every byte received."""
-        mbed_serial = serial.Serial(timeout=0.5, write_timeout=0.1, dsrdtr=False)
+        mbed_serial = serial.Serial(timeout=0.5, write_timeout=0.1, dsrdtr=True)
         mbed_serial.dtr = False
         try:
             mbed_serial.port = retry_fun_call(
diff --git a/drivers/usb/tests/TESTS/usb_device/CMakeLists.txt b/drivers/usb/tests/TESTS/usb_device/CMakeLists.txt
new file mode 100644
index 0000000000..6783c6075a
--- /dev/null
+++ b/drivers/usb/tests/TESTS/usb_device/CMakeLists.txt
@@ -0,0 +1,4 @@
+add_subdirectory(basic)
+add_subdirectory(hid)
+add_subdirectory(msd)
+add_subdirectory(serial)
\ No newline at end of file
diff --git a/drivers/usb/tests/TESTS/usb_device/basic/CMakeLists.txt b/drivers/usb/tests/TESTS/usb_device/basic/CMakeLists.txt
new file mode 100644
index 0000000000..17cbc9ecea
--- /dev/null
+++ b/drivers/usb/tests/TESTS/usb_device/basic/CMakeLists.txt
@@ -0,0 +1,21 @@
+# Copyright (c) 2022 ARM Limited. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+if(NOT "DEVICE_USBDEVICE=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "USB Device is not supported for this target")
+endif()
+
+mbed_greentea_add_test(
+    TEST_NAME
+        mbed-usb-device-basic
+    TEST_SOURCES
+        main.cpp
+        USBEndpointTester.cpp
+        USBTester.cpp
+    HOST_TESTS_DIR
+        "${CMAKE_CURRENT_LIST_DIR}/../../host_tests"
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
+    TEST_REQUIRED_LIBS
+        mbed-usb
+)
\ No newline at end of file
diff --git a/drivers/usb/tests/TESTS/usb_device/basic/USBEndpointTester.cpp b/drivers/usb/tests/TESTS/usb_device/basic/USBEndpointTester.cpp
index 4b48e94bd6..46a1dd2fc8 100644
--- a/drivers/usb/tests/TESTS/usb_device/basic/USBEndpointTester.cpp
+++ b/drivers/usb/tests/TESTS/usb_device/basic/USBEndpointTester.cpp
@@ -15,7 +15,7 @@
  * limitations under the License.
  */
 
-#if USB_DEVICE_TESTS
+#if DEVICE_USBDEVICE
 
 #include "stdint.h"
 #include "stdlib.h"
diff --git a/drivers/usb/tests/TESTS/usb_device/basic/USBTester.cpp b/drivers/usb/tests/TESTS/usb_device/basic/USBTester.cpp
index 743f217225..14dcfdb7f9 100644
--- a/drivers/usb/tests/TESTS/usb_device/basic/USBTester.cpp
+++ b/drivers/usb/tests/TESTS/usb_device/basic/USBTester.cpp
@@ -15,7 +15,7 @@
  * limitations under the License.
  */
 
-#if USB_DEVICE_TESTS
+#if DEVICE_USBDEVICE
 
 #include "stdint.h"
 #include "USBTester.h"
diff --git a/drivers/usb/tests/TESTS/usb_device/basic/main.cpp b/drivers/usb/tests/TESTS/usb_device/basic/main.cpp
index 2667af2c61..33a81698b0 100644
--- a/drivers/usb/tests/TESTS/usb_device/basic/main.cpp
+++ b/drivers/usb/tests/TESTS/usb_device/basic/main.cpp
@@ -15,10 +15,6 @@
  * limitations under the License.
  */
 
-#if !USB_DEVICE_TESTS
-#error [NOT_SUPPORTED] usb device tests not enabled
-#else
-
 #include <stdio.h>
 #include <string.h>
 #include "mbed.h"
@@ -664,5 +660,4 @@ int main()
     Harness::run(specification);
 }
 
-#endif // !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
-#endif // !defined(USB_DEVICE_TESTS)
+#endif // !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
\ No newline at end of file
diff --git a/drivers/usb/tests/TESTS/usb_device/hid/CMakeLists.txt b/drivers/usb/tests/TESTS/usb_device/hid/CMakeLists.txt
new file mode 100644
index 0000000000..c4bcf776b2
--- /dev/null
+++ b/drivers/usb/tests/TESTS/usb_device/hid/CMakeLists.txt
@@ -0,0 +1,19 @@
+# Copyright (c) 2022 ARM Limited. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+if(NOT "DEVICE_USBDEVICE=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "USB Device is not supported for this target")
+endif()
+
+mbed_greentea_add_test(
+    TEST_NAME
+        mbed-usb-device-hid
+    TEST_SOURCES
+        main.cpp
+    HOST_TESTS_DIR
+        "${CMAKE_CURRENT_LIST_DIR}/../../host_tests"
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
+    TEST_REQUIRED_LIBS
+        mbed-usb
+)
\ No newline at end of file
diff --git a/drivers/usb/tests/TESTS/usb_device/hid/main.cpp b/drivers/usb/tests/TESTS/usb_device/hid/main.cpp
index 551bac2a8f..e29139f53e 100644
--- a/drivers/usb/tests/TESTS/usb_device/hid/main.cpp
+++ b/drivers/usb/tests/TESTS/usb_device/hid/main.cpp
@@ -15,11 +15,7 @@
  * limitations under the License.
  */
 
-#if !USB_DEVICE_TESTS
-#error [NOT_SUPPORTED] usb device tests not enabled
-#else
-
-#if !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
+#if !DEVICE_USBDEVICE
 #error [NOT_SUPPORTED] USB Device not supported for this target
 #else
 
@@ -388,5 +384,4 @@ int main()
     return !Harness::run(specification);
 }
 
-#endif // !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
-#endif // !defined(USB_DEVICE_TESTS)
+#endif // !DEVICE_USBDEVICE
diff --git a/drivers/usb/tests/TESTS/usb_device/msd/CMakeLists.txt b/drivers/usb/tests/TESTS/usb_device/msd/CMakeLists.txt
new file mode 100644
index 0000000000..59a434af5c
--- /dev/null
+++ b/drivers/usb/tests/TESTS/usb_device/msd/CMakeLists.txt
@@ -0,0 +1,24 @@
+# Copyright (c) 2022 ARM Limited. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+if(NOT "DEVICE_USBDEVICE=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "USB Device is not supported for this target")
+endif()
+
+if(MBED_GREENTEA_TEST_BAREMETAL)
+    set(TEST_SKIPPED "USB MSD test is not compatible with mbed-baremetal")
+endif()
+
+mbed_greentea_add_test(
+    TEST_NAME
+        mbed-usb-device-msd
+    TEST_SOURCES
+        main.cpp
+    HOST_TESTS_DIR
+        "${CMAKE_CURRENT_LIST_DIR}/../../host_tests"
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
+    TEST_REQUIRED_LIBS
+        mbed-usb-msd
+        mbed-storage-fat
+)
\ No newline at end of file
diff --git a/drivers/usb/tests/TESTS/usb_device/msd/main.cpp b/drivers/usb/tests/TESTS/usb_device/msd/main.cpp
index 9539b2ab5e..19f5f1dcae 100644
--- a/drivers/usb/tests/TESTS/usb_device/msd/main.cpp
+++ b/drivers/usb/tests/TESTS/usb_device/msd/main.cpp
@@ -15,10 +15,6 @@
  * limitations under the License.
  */
 
-#if !USB_DEVICE_TESTS
-#error [NOT_SUPPORTED] usb device tests not enabled
-#else
-
 #if !defined(MBED_CONF_RTOS_PRESENT)
 #error [NOT_SUPPORTED] USB stack and test cases require RTOS to run.
 #else
@@ -492,5 +488,4 @@ int main()
 }
 
 #endif // !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
-#endif // !defined(MBED_CONF_RTOS_PRESENT)
-#endif // !defined(USB_DEVICE_TESTS)
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
\ No newline at end of file
diff --git a/drivers/usb/tests/TESTS/usb_device/serial/CMakeLists.txt b/drivers/usb/tests/TESTS/usb_device/serial/CMakeLists.txt
new file mode 100644
index 0000000000..1a0f1c5dbe
--- /dev/null
+++ b/drivers/usb/tests/TESTS/usb_device/serial/CMakeLists.txt
@@ -0,0 +1,19 @@
+# Copyright (c) 2022 ARM Limited. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+if(NOT "DEVICE_USBDEVICE=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "USB Device is not supported for this target")
+endif()
+
+mbed_greentea_add_test(
+    TEST_NAME
+        mbed-usb-device-serial
+    TEST_SOURCES
+        main.cpp
+    HOST_TESTS_DIR
+        "${CMAKE_CURRENT_LIST_DIR}/../../host_tests"
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
+    TEST_REQUIRED_LIBS
+        mbed-usb
+)
\ No newline at end of file
diff --git a/drivers/usb/tests/TESTS/usb_device/serial/main.cpp b/drivers/usb/tests/TESTS/usb_device/serial/main.cpp
index 7f16ef5573..011cbbe168 100644
--- a/drivers/usb/tests/TESTS/usb_device/serial/main.cpp
+++ b/drivers/usb/tests/TESTS/usb_device/serial/main.cpp
@@ -15,11 +15,7 @@
  * limitations under the License.
  */
 
-#if !USB_DEVICE_TESTS
-#error [NOT_SUPPORTED] usb device tests not enabled
-#else
-
-#if !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
+#if !DEVICE_USBDEVICE
 #error [NOT_SUPPORTED] USB Device not supported for this target
 #else
 
@@ -879,5 +875,4 @@ int main()
     return !Harness::run(specification);
 }
 
-#endif // !defined(DEVICE_USBDEVICE) || !DEVICE_USBDEVICE
-#endif // !defined(USB_DEVICE_TESTS)
+#endif // !DEVICE_USBDEVICE
\ No newline at end of file
diff --git a/tools/requirements-ci-build.txt b/tools/requirements-ci-build.txt
index a13393c602..35efca1b35 100644
--- a/tools/requirements-ci-build.txt
+++ b/tools/requirements-ci-build.txt
@@ -2,4 +2,8 @@
 # It installs flashing support through the mbed tools packages and also the mbedhtrun test runner.
 mbed-host-tests
 mbed-greentea
-mbed-ls
\ No newline at end of file
+mbed-ls
+
+# For USB Device host tests
+hidapi>=0.7.99
+pyusb>=1.2.0
\ No newline at end of file