diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 9c7e023a7..a06935bc4 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -56,6 +56,19 @@ jobs:
       run: |
         script/make-pretty check
 
+  cmake-version:
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo pip3 install --system -U cmake==3.10.3
+        cmake --version | grep 3.10.3
+        sudo apt-get --no-install-recommends install -y ninja-build libreadline-dev libncurses-dev
+    - name: Build
+      run: |
+        NODE_MODE=rcp ./script/test build
+
   package:
     name: package-${{ matrix.compiler }}
     runs-on: ubuntu-18.04
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 21b2141c8..4d5f726f1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -60,8 +60,8 @@ if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "(Apple)?[Cc]lang")
 
     if(OT_COVERAGE)
         target_compile_definitions(ot-config INTERFACE "OPENTHREAD_ENABLE_COVERAGE=1")
-        add_compile_options(-g -O0 --coverage)
-        add_link_options(--coverage)
+        target_compile_options(ot-config INTERFACE -g -O0 --coverage)
+        target_link_libraries(ot-config INTERFACE --coverage)
     endif()
 
     set(OT_CFLAGS
diff --git a/examples/platforms/simulation/CMakeLists.txt b/examples/platforms/simulation/CMakeLists.txt
index 571825707..c1034328e 100644
--- a/examples/platforms/simulation/CMakeLists.txt
+++ b/examples/platforms/simulation/CMakeLists.txt
@@ -84,7 +84,6 @@ if(LIBRT)
 endif()
 
 target_link_libraries(openthread-simulation PRIVATE
-    openthread-platform-utils
     openthread-platform
     ot-config)
 
diff --git a/examples/platforms/utils/CMakeLists.txt b/examples/platforms/utils/CMakeLists.txt
index c32856589..4712015e8 100644
--- a/examples/platforms/utils/CMakeLists.txt
+++ b/examples/platforms/utils/CMakeLists.txt
@@ -42,15 +42,17 @@ set_target_properties(
         CXX_STANDARD 11
 )
 
+target_compile_definitions(openthread-platform-utils PRIVATE
+    $<TARGET_PROPERTY:ot-config,INTERFACE_COMPILE_DEFINITIONS>
+)
+
 target_include_directories(openthread-platform-utils PRIVATE
     ${OT_PUBLIC_INCLUDES}
+    $<TARGET_PROPERTY:ot-config,INTERFACE_INCLUDE_DIRECTORIES>
     ${PROJECT_SOURCE_DIR}/examples/platforms
     ${PROJECT_SOURCE_DIR}/examples/platforms/utils
-    ${PROJECT_SOURCE_DIR}/src/core
     ${PROJECT_SOURCE_DIR}/third_party/jlink/SEGGER_RTT_V640/RTT
 )
 
 # Provide a static library implementation of platform-utils for non-cmake platforms
 add_library(openthread-platform-utils-static $<TARGET_OBJECTS:openthread-platform-utils>)
-target_link_libraries(openthread-platform-utils-static PUBLIC openthread-platform-utils)
-target_link_libraries(openthread-platform-utils PRIVATE ot-config)