diff --git a/TESTS/mbedtls/selftest/main.cpp b/TESTS/mbedtls/selftest/main.cpp
index 8a9cb8870e..0398dd0cb0 100644
--- a/TESTS/mbedtls/selftest/main.cpp
+++ b/TESTS/mbedtls/selftest/main.cpp
@@ -18,7 +18,9 @@
 #include "greentea-client/test_env.h"
 #include "unity.h"
 #include "utest.h"
+#if defined(MBED_CONF_RTOS_PRESENT)
 #include "rtos.h"
+#endif
 
 using namespace utest::v1;
 
diff --git a/TESTS/psa/attestation/main.cpp b/TESTS/psa/attestation/main.cpp
index 3789be02b2..ec13fcaf66 100755
--- a/TESTS/psa/attestation/main.cpp
+++ b/TESTS/psa/attestation/main.cpp
@@ -16,6 +16,10 @@
 * limitations under the License.
 */
 
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] PSA attestation test case requires RTOS to run.
+#else
+
 #include "psa/crypto.h"
 
 #if ((!defined(TARGET_PSA)) || (!defined(MBEDTLS_PSA_CRYPTO_C)))
@@ -157,3 +161,4 @@ int main()
 }
 
 #endif // ((!defined(TARGET_PSA)) || (!defined(MBEDTLS_PSA_CRYPTO_C)))
+#endif // !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/TESTS/psa/its_ps/main.cpp b/TESTS/psa/its_ps/main.cpp
index 273c207d3f..ef35212ddf 100644
--- a/TESTS/psa/its_ps/main.cpp
+++ b/TESTS/psa/its_ps/main.cpp
@@ -16,8 +16,8 @@
 * limitations under the License.
 */
 
-#ifndef TARGET_PSA
-#error [NOT_SUPPORTED] ITS/PS tests can run only on PSA-enabled targets.
+#if !defined(TARGET_PSA) || !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] ITS/PS tests can run only on PSA-enabled targets and RTOS.
 #else
 
 #include "greentea-client/test_env.h"
@@ -238,4 +238,4 @@ int main()
     return !Harness::run(specification);
 }
 
-#endif // TARGET_PSA
+#endif // TARGET_PSA || !defined(MBED_CONF_RTOS_PRESENT)
diff --git a/components/TARGET_PSA/TESTS/compliance_attestation/test_a001/main.c b/components/TARGET_PSA/TESTS/compliance_attestation/test_a001/main.c
index 0c417d3d52..c424d37aac 100644
--- a/components/TARGET_PSA/TESTS/compliance_attestation/test_a001/main.c
+++ b/components/TARGET_PSA/TESTS/compliance_attestation/test_a001/main.c
@@ -1,9 +1,13 @@
 #include "val_interfaces.h"
 #include "pal_mbed_os_intf.h"
 
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] PSA compliance attestation test cases requires RTOS to run.
+#else
 void test_entry_a001(val_api_t *val_api, psa_api_t *psa_api); 
 
 int main(void)
 {
     test_start(test_entry_a001, COMPLIANCE_TEST_ATTESTATION);
 }
+#endif
diff --git a/components/TARGET_PSA/TESTS/compliance_its/test_s001/main.c b/components/TARGET_PSA/TESTS/compliance_its/test_s001/main.c
index 8045d73f5e..4c9ddd7758 100644
--- a/components/TARGET_PSA/TESTS/compliance_its/test_s001/main.c
+++ b/components/TARGET_PSA/TESTS/compliance_its/test_s001/main.c
@@ -1,6 +1,10 @@
 #include "val_interfaces.h"
 #include "pal_mbed_os_intf.h"
 
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] PSA compliance its test cases requires RTOS to run
+#else
+
 #ifdef ITS_TEST
 void test_entry_s001(val_api_t *val_api, psa_api_t *psa_api);
 #elif PS_TEST
@@ -15,3 +19,4 @@ int main(void)
     test_start(test_entry_p001, COMPLIANCE_TEST_STORAGE);
 #endif
 }
+#endif
diff --git a/components/TARGET_PSA/TESTS/compliance_its/test_s002/main.c b/components/TARGET_PSA/TESTS/compliance_its/test_s002/main.c
index 10c724f850..859e6508b1 100644
--- a/components/TARGET_PSA/TESTS/compliance_its/test_s002/main.c
+++ b/components/TARGET_PSA/TESTS/compliance_its/test_s002/main.c
@@ -1,6 +1,9 @@
 #include "val_interfaces.h"
 #include "pal_mbed_os_intf.h"
 #include "lifecycle.h"
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] PSA compliance its test cases requires RTOS to run
+#else
 
 #ifdef ITS_TEST
 void test_entry_s002(val_api_t *val_api, psa_api_t *psa_api);
@@ -16,3 +19,4 @@ int main(void)
     test_start(test_entry_p002, COMPLIANCE_TEST_STORAGE);
 #endif
 }
+#endif
diff --git a/components/TARGET_PSA/TESTS/compliance_its/test_s004/main.c b/components/TARGET_PSA/TESTS/compliance_its/test_s004/main.c
index 952dbdf905..14c6000c4f 100644
--- a/components/TARGET_PSA/TESTS/compliance_its/test_s004/main.c
+++ b/components/TARGET_PSA/TESTS/compliance_its/test_s004/main.c
@@ -1,5 +1,8 @@
 #include "val_interfaces.h"
 #include "pal_mbed_os_intf.h"
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] PSA compliance its test cases requires RTOS to run
+#else
 
 #ifdef ITS_TEST
 void test_entry_s004(val_api_t *val_api, psa_api_t *psa_api);
@@ -15,3 +18,4 @@ int main(void)
     test_start(test_entry_p004, COMPLIANCE_TEST_STORAGE);
 #endif
 }
+#endif
diff --git a/components/TARGET_PSA/TESTS/compliance_its/test_s005/main.c b/components/TARGET_PSA/TESTS/compliance_its/test_s005/main.c
index c587e5371a..036511facf 100644
--- a/components/TARGET_PSA/TESTS/compliance_its/test_s005/main.c
+++ b/components/TARGET_PSA/TESTS/compliance_its/test_s005/main.c
@@ -1,6 +1,10 @@
 #include "val_interfaces.h"
 #include "pal_mbed_os_intf.h"
 
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] PSA compliance its test cases requires RTOS to run
+#else
+
 #ifdef ITS_TEST
 void test_entry_s005(val_api_t *val_api, psa_api_t *psa_api);
 #elif PS_TEST
@@ -15,3 +19,4 @@ int main(void)
     test_start(test_entry_p005, COMPLIANCE_TEST_STORAGE);
 #endif
 }
+#endif
diff --git a/components/TARGET_PSA/TESTS/compliance_its/test_s006/main.c b/components/TARGET_PSA/TESTS/compliance_its/test_s006/main.c
index c438256557..be2f0a7033 100644
--- a/components/TARGET_PSA/TESTS/compliance_its/test_s006/main.c
+++ b/components/TARGET_PSA/TESTS/compliance_its/test_s006/main.c
@@ -1,6 +1,10 @@
 #include "val_interfaces.h"
 #include "pal_mbed_os_intf.h"
 
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] PSA compliance its test cases requires RTOS to run
+#else
+
 #ifdef ITS_TEST
 void test_entry_s006(val_api_t *val_api, psa_api_t *psa_api);
 #elif PS_TEST
@@ -15,3 +19,4 @@ int main(void)
     test_start(test_entry_p006, COMPLIANCE_TEST_STORAGE);
 #endif
 }
+#endif
diff --git a/components/TARGET_PSA/TESTS/compliance_its/test_s007/main.c b/components/TARGET_PSA/TESTS/compliance_its/test_s007/main.c
index b79fbc893b..33b88ce915 100644
--- a/components/TARGET_PSA/TESTS/compliance_its/test_s007/main.c
+++ b/components/TARGET_PSA/TESTS/compliance_its/test_s007/main.c
@@ -1,6 +1,10 @@
 #include "val_interfaces.h"
 #include "pal_mbed_os_intf.h"
 
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] PSA compliance its test cases requires RTOS to run
+#else
+
 #ifdef ITS_TEST
 void test_entry_s007(val_api_t *val_api, psa_api_t *psa_api);
 #elif PS_TEST
@@ -15,3 +19,4 @@ int main(void)
     test_start(test_entry_p007, COMPLIANCE_TEST_STORAGE);
 #endif
 }
+#endif
diff --git a/components/TARGET_PSA/TESTS/compliance_its/test_s008/main.c b/components/TARGET_PSA/TESTS/compliance_its/test_s008/main.c
index 8faecab01e..d1a254138e 100644
--- a/components/TARGET_PSA/TESTS/compliance_its/test_s008/main.c
+++ b/components/TARGET_PSA/TESTS/compliance_its/test_s008/main.c
@@ -1,6 +1,10 @@
 #include "val_interfaces.h"
 #include "pal_mbed_os_intf.h"
 
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] PSA compliance its test cases requires RTOS to run
+#else
+
 #ifdef ITS_TEST
 void test_entry_s008(val_api_t *val_api, psa_api_t *psa_api);
 #elif PS_TEST
@@ -15,3 +19,4 @@ int main(void)
     test_start(test_entry_p008, COMPLIANCE_TEST_STORAGE);
 #endif
 }
+#endif
diff --git a/components/TARGET_PSA/TESTS/compliance_its/test_s009/main.c b/components/TARGET_PSA/TESTS/compliance_its/test_s009/main.c
index adf65a3d8a..595ebb1e6e 100644
--- a/components/TARGET_PSA/TESTS/compliance_its/test_s009/main.c
+++ b/components/TARGET_PSA/TESTS/compliance_its/test_s009/main.c
@@ -1,6 +1,10 @@
 #include "val_interfaces.h"
 #include "pal_mbed_os_intf.h"
 
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] PSA compliance its test cases requires RTOS to run
+#else
+
 #ifdef ITS_TEST
 void test_entry_s009(val_api_t *val_api, psa_api_t *psa_api);
 #elif PS_TEST
@@ -15,3 +19,4 @@ int main(void)
     test_start(test_entry_p009, COMPLIANCE_TEST_STORAGE);
 #endif
 }
+#endif
diff --git a/components/TARGET_PSA/TESTS/compliance_its/test_s010/main.c b/components/TARGET_PSA/TESTS/compliance_its/test_s010/main.c
index dd110a6a4d..6c99bd5f7d 100644
--- a/components/TARGET_PSA/TESTS/compliance_its/test_s010/main.c
+++ b/components/TARGET_PSA/TESTS/compliance_its/test_s010/main.c
@@ -1,6 +1,10 @@
 #include "val_interfaces.h"
 #include "pal_mbed_os_intf.h"
 
+#if !defined(MBED_CONF_RTOS_PRESENT)
+#error [NOT_SUPPORTED] PSA compliance its test cases requires RTOS to run
+#else
+
 #ifdef ITS_TEST
 void test_entry_s010(val_api_t *val_api, psa_api_t *psa_api);
 #elif PS_TEST
@@ -15,3 +19,4 @@ int main(void)
     test_start(test_entry_p010, COMPLIANCE_TEST_STORAGE);
 #endif
 }
+#endif
diff --git a/features/frameworks/TARGET_PSA/pal/pal_mbed_os_intf.cpp b/features/frameworks/TARGET_PSA/pal/pal_mbed_os_intf.cpp
index f125d1be5e..ab1803ddc1 100644
--- a/features/frameworks/TARGET_PSA/pal/pal_mbed_os_intf.cpp
+++ b/features/frameworks/TARGET_PSA/pal/pal_mbed_os_intf.cpp
@@ -135,9 +135,11 @@ int test_start(test_entry_f test_f, compliance_test_type type)
 {
     test_g = test_f;
     type_g = type;
+#if defined(MBED_CONF_RTOS_PRESENT)
     MBED_ASSERT((type > COMPLIANCE_TEST_START) && (type < COMPLIANCE_TEST_END));
     Thread thread(osPriorityNormal, TEST_STACK_SIZE, NULL);
     thread.start(main_wrapper);
     thread.join();
+#endif
     return 0;
 }