diff --git a/rtos/CMakeLists.txt b/rtos/CMakeLists.txt
index 8af23d8705..2f32976400 100644
--- a/rtos/CMakeLists.txt
+++ b/rtos/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/rtos/tests/TESTS/CMakeLists.txt b/rtos/tests/TESTS/CMakeLists.txt
new file mode 100644
index 0000000000..4aad8e8e73
--- /dev/null
+++ b/rtos/tests/TESTS/CMakeLists.txt
@@ -0,0 +1,17 @@
+# Copyright (c) 2021 ARM Limited. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+add_subdirectory(mbed_rtos/basic)
+add_subdirectory(mbed_rtos/condition_variable)
+add_subdirectory(mbed_rtos/event_flags)
+add_subdirectory(mbed_rtos/heap_and_stack)
+add_subdirectory(mbed_rtos/kernel_tick_count)
+add_subdirectory(mbed_rtos/mail)
+add_subdirectory(mbed_rtos/malloc)
+add_subdirectory(mbed_rtos/MemoryPool)
+add_subdirectory(mbed_rtos/mutex)
+add_subdirectory(mbed_rtos/queue)
+add_subdirectory(mbed_rtos/semaphore)
+add_subdirectory(mbed_rtos/signals)
+add_subdirectory(mbed_rtos/systimer)
+add_subdirectory(mbed_rtos/threads)
diff --git a/rtos/tests/TESTS/mbed_rtos/MemoryPool/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/MemoryPool/CMakeLists.txt
index 9794b7c8cb..3a163d578f 100644
--- a/rtos/tests/TESTS/mbed_rtos/MemoryPool/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/MemoryPool/CMakeLists.txt
@@ -1,18 +1,17 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-memorypool)
-
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+if(MBED_GREENTEA_TEST_BAREMETAL)
+    set(TEST_SKIPPED "MemoryPool test cases require a RTOS to run.")
+endif()
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-memorypool
     TEST_SOURCES
         main.cpp
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/basic/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/basic/CMakeLists.txt
index 3c9b8cb398..394000ece7 100644
--- a/rtos/tests/TESTS/mbed_rtos/basic/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/basic/CMakeLists.txt
@@ -1,18 +1,23 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-basic)
+if(${MBED_C_LIB} STREQUAL "small" OR MBED_GREENTEA_TEST_BAREMETAL)
+    set(TEST_SKIPPED "RTOS basic test cases require RTOS with multithread to run")
+endif()
 
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+if(NOT "DEVICE_USTICKER=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "UsTicker need to be enabled for this test.")
+endif()
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-basic
     TEST_SOURCES
         main.cpp
+    HOST_TESTS_DIR
+        "${CMAKE_CURRENT_LIST_DIR}/../../host_tests"
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/condition_variable/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/condition_variable/CMakeLists.txt
index 57e3ef1055..4ffb89017a 100644
--- a/rtos/tests/TESTS/mbed_rtos/condition_variable/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/condition_variable/CMakeLists.txt
@@ -1,18 +1,21 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-condition-variable)
+if(${MBED_C_LIB} STREQUAL "small" OR MBED_GREENTEA_TEST_BAREMETAL)
+    set(TEST_SKIPPED "Condition variable test cases require RTOS with multithread to run")
+endif()
 
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+if(NOT "DEVICE_USTICKER=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "UsTicker need to be enabled for this test.")
+endif()
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-condition-variable
     TEST_SOURCES
         main.cpp
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/event_flags/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/event_flags/CMakeLists.txt
index 94460f1f94..e8483f1bc8 100644
--- a/rtos/tests/TESTS/mbed_rtos/event_flags/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/event_flags/CMakeLists.txt
@@ -1,18 +1,17 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-event-flags)
-
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+if(NOT "DEVICE_USTICKER=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "UsTicker need to be enabled for this test.")
+endif()
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-event-flags
     TEST_SOURCES
         main.cpp
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/heap_and_stack/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/heap_and_stack/CMakeLists.txt
index dd93b95239..58d04dbca6 100644
--- a/rtos/tests/TESTS/mbed_rtos/heap_and_stack/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/heap_and_stack/CMakeLists.txt
@@ -1,18 +1,20 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-heap-and-stack)
+if("TARGET_CORTEX_A" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "test not supported for cortex-A.")
+elseif(NOT "DEVICE_USTICKER=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "UsTicker need to be enabled for this test.")
+endif()
 
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-heap-and-stack
     TEST_SOURCES
         main.cpp
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/kernel_tick_count/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/kernel_tick_count/CMakeLists.txt
index c95ca86fc2..5ffd93f0ba 100644
--- a/rtos/tests/TESTS/mbed_rtos/kernel_tick_count/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/kernel_tick_count/CMakeLists.txt
@@ -1,18 +1,11 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
-
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-kernel-tick-count)
-
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+include(mbed_greentea)
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-kernel-tick-count
     TEST_SOURCES
         main.cpp
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/mail/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/mail/CMakeLists.txt
index 26feb9f873..b311e2a06c 100644
--- a/rtos/tests/TESTS/mbed_rtos/mail/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/mail/CMakeLists.txt
@@ -1,18 +1,21 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-mail)
+if(${MBED_C_LIB} STREQUAL "small" OR MBED_GREENTEA_TEST_BAREMETAL)
+    set(TEST_SKIPPED "mail test cases require RTOS with multithread to run")
+endif()
 
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+if(NOT "DEVICE_USTICKER=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "UsTicker need to be enabled for this test.")
+endif()
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-mail
     TEST_SOURCES
         main.cpp
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/malloc/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/malloc/CMakeLists.txt
index 78b0310b2c..83446e6b89 100644
--- a/rtos/tests/TESTS/mbed_rtos/malloc/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/malloc/CMakeLists.txt
@@ -1,18 +1,17 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-malloc)
-
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+if(NOT "DEVICE_USTICKER=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "UsTicker need to be enabled for this test.")
+endif()
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-malloc
     TEST_SOURCES
         main.cpp
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/mutex/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/mutex/CMakeLists.txt
index 8734d6c3f9..0d123c9a6e 100644
--- a/rtos/tests/TESTS/mbed_rtos/mutex/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/mutex/CMakeLists.txt
@@ -1,18 +1,21 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-mutex)
+if(${MBED_C_LIB} STREQUAL "small" OR MBED_GREENTEA_TEST_BAREMETAL)
+    set(TEST_SKIPPED "Mutex test cases require RTOS with multithread to run")
+endif()
 
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+if(NOT "DEVICE_USTICKER=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "UsTicker need to be enabled for this test.")
+endif()
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-mutex
     TEST_SOURCES
         main.cpp
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/queue/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/queue/CMakeLists.txt
index 9c908197cd..a66628b0c2 100644
--- a/rtos/tests/TESTS/mbed_rtos/queue/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/queue/CMakeLists.txt
@@ -1,18 +1,21 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-queue)
+if(${MBED_C_LIB} STREQUAL "small" OR MBED_GREENTEA_TEST_BAREMETAL)
+    set(TEST_SKIPPED "Queue test cases require RTOS with multithread to run")
+endif()
 
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+if(NOT "DEVICE_USTICKER=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "UsTicker need to be enabled for this test.")
+endif()
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-queue
     TEST_SOURCES
         main.cpp
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/semaphore/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/semaphore/CMakeLists.txt
index d718b92904..5bec129bc9 100644
--- a/rtos/tests/TESTS/mbed_rtos/semaphore/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/semaphore/CMakeLists.txt
@@ -1,18 +1,17 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-semaphore)
-
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+if(NOT "DEVICE_USTICKER=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "UsTicker need to be enabled for this test.")
+endif()
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-semaphore
     TEST_SOURCES
         main.cpp
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/signals/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/signals/CMakeLists.txt
index cca7ed5479..9994e484a0 100644
--- a/rtos/tests/TESTS/mbed_rtos/signals/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/signals/CMakeLists.txt
@@ -1,18 +1,17 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-signals)
-
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+if(NOT "DEVICE_USTICKER=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "UsTicker need to be enabled for this test.")
+endif()
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-signals
     TEST_SOURCES
         main.cpp
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/systimer/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/systimer/CMakeLists.txt
index 0606dfb741..0c2d56c946 100644
--- a/rtos/tests/TESTS/mbed_rtos/systimer/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/systimer/CMakeLists.txt
@@ -1,18 +1,11 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
-
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-systimer)
-
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+include(mbed_greentea)
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-systimer
     TEST_SOURCES
         main.cpp
 )
diff --git a/rtos/tests/TESTS/mbed_rtos/threads/CMakeLists.txt b/rtos/tests/TESTS/mbed_rtos/threads/CMakeLists.txt
index 8499ab3437..d40b9cf12c 100644
--- a/rtos/tests/TESTS/mbed_rtos/threads/CMakeLists.txt
+++ b/rtos/tests/TESTS/mbed_rtos/threads/CMakeLists.txt
@@ -1,18 +1,23 @@
-# Copyright (c) 2020 ARM Limited. All rights reserved.
+# Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
-cmake_minimum_required(VERSION 3.19.0 FATAL_ERROR)
+include(mbed_greentea)
 
-set(MBED_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../.. CACHE INTERNAL "")
-set(TEST_TARGET mbed-rtos-threads)
+if(${MBED_C_LIB} STREQUAL "small" OR MBED_GREENTEA_TEST_BAREMETAL)
+    set(TEST_SKIPPED "RTOS basic test cases require RTOS with multithread to run")
+endif()
 
-include(${MBED_PATH}/tools/cmake/mbed_greentea.cmake)
-
-project(${TEST_TARGET})
+if(NOT "DEVICE_USTICKER=1" IN_LIST MBED_TARGET_DEFINITIONS)
+    set(TEST_SKIPPED "UsTicker need to be enabled for this test.")
+endif()
 
 mbed_greentea_add_test(
     TEST_NAME
-        ${TEST_TARGET}
+        mbed-rtos-threads
+    TEST_INCLUDE_DIRS
+        .
     TEST_SOURCES
         main.cpp
+    TEST_SKIPPED
+        ${TEST_SKIPPED}
 )