diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3c997e89a..cec6639a0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -122,3 +122,8 @@ endif()
 
 add_subdirectory(src)
 add_subdirectory(third_party)
+
+if(OT_PLATFORM STREQUAL "simulation")
+    enable_testing()
+    add_subdirectory(tests)
+endif()
diff --git a/script/test b/script/test
index dc9fdb1fe..b1c505d5d 100755
--- a/script/test
+++ b/script/test
@@ -168,6 +168,17 @@ do_clean() {
     rm -rfv "${OT_BUILDDIR}"
 }
 
+do_unit() {
+    local builddir="${OT_BUILDDIR}/cmake/openthread-simulation-${THREAD_VERSION}"
+    if [[ ! -d "${builddir}" ]]; then
+        echo "Cannot find build directory!"
+        exit -1
+    fi
+
+    cd "${builddir}"
+    ninja test
+}
+
 do_cert() {
     export top_builddir="${OT_BUILDDIR}/cmake/openthread-simulation-${THREAD_VERSION}"
 
@@ -269,6 +280,7 @@ COMMANDS:
     build           Build project for running tests. This can be used to rebuild the project for changes.
     cert            Run a single thread-cert test. ENVIRONMENTS should be the same as those given to build or update.
     cert_suite      Run a batch of thread-cert tests and summarize the test results. Only echo logs for failing tests.
+    unit            Run all the unit tests. This should be called after simulation is built.
     expect          Run expect tests.
     help            Print this help.
 
@@ -381,6 +393,9 @@ main()
                 shift
                 do_cert_suite "$@"
                 ;;
+            unit)
+                do_unit
+                ;;
             help)
                 print_usage
                 ;;
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
new file mode 100644
index 000000000..65feb228f
--- /dev/null
+++ b/tests/CMakeLists.txt
@@ -0,0 +1,29 @@
+#
+#  Copyright (c) 2020, The OpenThread Authors.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions are met:
+#  1. Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#  2. Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#  3. Neither the name of the copyright holder nor the
+#     names of its contributors may be used to endorse or promote products
+#     derived from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+#
+
+add_subdirectory(unit)
diff --git a/tests/unit/CMakeLists.txt b/tests/unit/CMakeLists.txt
new file mode 100644
index 000000000..04bbab036
--- /dev/null
+++ b/tests/unit/CMakeLists.txt
@@ -0,0 +1,565 @@
+#
+#  Copyright (c) 2020, The OpenThread Authors.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions are met:
+#  1. Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#  2. Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#  3. Neither the name of the copyright holder nor the
+#     names of its contributors may be used to endorse or promote products
+#     derived from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+#
+
+set(COMMON_SOURCES
+    test_platform.cpp
+    test_util.cpp
+)
+
+set(COMMON_LIBS
+    openthread-ftd
+    openthread-ncp-ftd
+    mbedtls
+    util
+)
+
+set(COMMON_INCLUDES
+    ${PROJECT_SOURCE_DIR}/include
+    ${PROJECT_SOURCE_DIR}/src
+    ${PROJECT_SOURCE_DIR}/src/core
+    ${PROJECT_SOURCE_DIR}/examples/platforms/simulation
+)
+
+set(COMMON_COMPILE_OPTIONS
+    -DOPENTHREAD_FTD=1
+    -DOPENTHREAD_SPINEL_CONFIG_OPENTHREAD_MESSAGE_ENABLE=1
+)
+
+add_executable(test-aes
+    ${COMMON_SOURCES}
+    test_aes.cpp
+)
+
+target_include_directories(test-aes
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-aes
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-aes
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-aes
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-aes COMMAND test-aes)
+
+add_executable(test-child
+    ${COMMON_SOURCES}
+    test_child.cpp
+)
+
+target_include_directories(test-child
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-child
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-child
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-child
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-child COMMAND test-child)
+
+add_executable(test-child-table
+    ${COMMON_SOURCES}
+    test_child_table.cpp
+)
+
+target_include_directories(test-child-table
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-child-table
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-child-table
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-child-table
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-child-table COMMAND test-child-table)
+
+add_executable(test-flash
+    ${COMMON_SOURCES}
+    test_flash.cpp
+)
+
+target_include_directories(test-flash
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-flash
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-flash
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-flash
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-flash COMMAND test-flash)
+
+add_executable(test-heap
+    ${COMMON_SOURCES}
+    test_heap.cpp
+)
+
+target_include_directories(test-heap
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-heap
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-heap
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-heap
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-heap COMMAND test-heap)
+
+add_executable(test-hmac-sha256
+    ${COMMON_SOURCES}
+    test_hmac_sha256.cpp
+)
+
+target_include_directories(test-hmac-sha256
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-hmac-sha256
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-hmac-sha256
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-hmac-sha256
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-hmac-sha256 COMMAND test-hmac-sha256)
+
+add_executable(test-ip6-address
+    ${COMMON_SOURCES}
+    test_ip6_address.cpp
+)
+
+target_include_directories(test-ip6-address
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-ip6-address
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-ip6-address
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-ip6-address
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-ip6-address COMMAND test-ip6-address)
+
+add_executable(test-link-quality
+    ${COMMON_SOURCES}
+    test_link_quality.cpp
+)
+
+target_include_directories(test-link-quality
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-link-quality
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-link-quality
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-link-quality
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-link-quality COMMAND test-link-quality)
+
+add_executable(test-linked-list
+    ${COMMON_SOURCES}
+    test_linked_list.cpp
+)
+
+target_include_directories(test-linked-list
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-linked-list
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-linked-list
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-linked-list
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-linked-list COMMAND test-linked-list)
+
+add_executable(test-lowpan
+    ${COMMON_SOURCES}
+    test_lowpan.cpp
+)
+
+target_include_directories(test-lowpan
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-lowpan
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-lowpan
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-lowpan
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-lowpan COMMAND test-lowpan)
+
+add_executable(test-mac-frame
+    ${COMMON_SOURCES}
+    test_mac_frame.cpp
+)
+
+target_include_directories(test-mac-frame
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-mac-frame
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-mac-frame
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-mac-frame
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-mac-frame COMMAND test-mac-frame)
+
+add_executable(test-message
+    ${COMMON_SOURCES}
+    test_message.cpp
+)
+
+target_include_directories(test-message
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-message
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-message
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-message
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-message COMMAND test-message)
+
+add_executable(test-message-queue
+    ${COMMON_SOURCES}
+    test_message_queue.cpp
+)
+
+target_include_directories(test-message-queue
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-message-queue
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-message-queue
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-message-queue
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-message-queue COMMAND test-message-queue)
+
+add_executable(test-netif
+    ${COMMON_SOURCES}
+    test_netif.cpp
+)
+
+target_include_directories(test-netif
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-netif
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-netif
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-netif
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-netif COMMAND test-netif)
+
+add_executable(test-network-data
+    ${COMMON_SOURCES}
+    test_network_data.cpp
+)
+
+target_include_directories(test-network-data
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-network-data
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-network-data
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-network-data
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-network-data COMMAND test-network-data)
+
+add_executable(test-priority-queue
+    ${COMMON_SOURCES}
+    test_priority_queue.cpp
+)
+
+target_include_directories(test-priority-queue
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-priority-queue
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-priority-queue
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-priority-queue
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-priority-queue COMMAND test-priority-queue)
+
+add_executable(test-pskc
+    ${COMMON_SOURCES}
+    test_pskc.cpp
+)
+
+target_include_directories(test-pskc
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-pskc
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-pskc
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-pskc
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-pskc COMMAND test-pskc)
+
+add_executable(test-string
+    ${COMMON_SOURCES}
+    test_string.cpp
+)
+
+target_include_directories(test-string
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-string
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-string
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-string
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-string COMMAND test-string)
+
+add_executable(test-timer
+    ${COMMON_SOURCES}
+    test_timer.cpp
+)
+
+target_include_directories(test-timer
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_definitions(test-timer
+    PRIVATE
+        ${OT_PRIVATE_DEFINES}
+)
+
+target_compile_options(test-timer
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(test-timer
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME test-timer COMMAND test-timer)
+