diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 8e210f9f..897b60e1 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -269,7 +269,7 @@ jobs:
           MATRIX_HOSTS+='{
               "name": "linux-x86_64",
               "runner": "zephyr-runner-v2-linux-x64-4xlarge",
-              "container": "ghcr.io/zephyrproject-rtos/sdk-build:v1.4.1",
+              "container": "ghcr.io/zephyrproject-rtos/sdk-build:v1.4.2",
               "archive": "tar.xz"
             },'
         fi
@@ -278,7 +278,7 @@ jobs:
           MATRIX_HOSTS+='{
               "name": "linux-aarch64",
               "runner": "zephyr-runner-v2-linux-arm64-4xlarge",
-              "container": "ghcr.io/zephyrproject-rtos/sdk-build:v1.4.1",
+              "container": "ghcr.io/zephyrproject-rtos/sdk-build:v1.4.2",
               "archive": "tar.xz"
             },'
         fi
@@ -305,7 +305,7 @@ jobs:
           MATRIX_HOSTS+='{
               "name": "windows-x86_64",
               "runner": "zephyr-runner-v2-linux-x64-4xlarge",
-              "container": "ghcr.io/zephyrproject-rtos/sdk-build:v1.4.1",
+              "container": "ghcr.io/zephyrproject-rtos/sdk-build:v1.4.2",
               "archive": "7z"
             },'
         fi
@@ -1033,6 +1033,7 @@ jobs:
           ${BREW} install \
             ccache \
             cmake \
+            gcc \
             meson \
             ninja \
             pkg-config
@@ -1076,6 +1077,7 @@ jobs:
         git submodule update --depth=1 --recursive qemu
         git submodule update --depth=1 --recursive qemu_arc
         git submodule update --depth=1 --recursive qemu_xilinx
+        git submodule update --depth=1 --recursive openocd
 
     - name: Configure AWS Credentials
       uses: aws-actions/configure-aws-credentials@v4
@@ -1155,13 +1157,24 @@ jobs:
         pushd ${QEMU_BUILD}
         ${BUILD_PRECMD} ${GITHUB_WORKSPACE}/scripts/build_qemu.sh \
           ${{ matrix.host.name }} \
-          ${GITHUB_WORKSPACE}/qemu \
+          ${QEMU_SOURCE} \
           ${BUILD_OUTPUT}
         popd
 
         # TODO: Build ARC QEMU
         # TODO: Build Xilinx QEMU
-        # TODO: Build OpenOCD
+
+        # Build OpenOCD
+        OPENOCD_BUILD="${WORKSPACE}/build/openocd"
+        OPENOCD_SOURCE="${GITHUB_WORKSPACE}/openocd"
+
+        mkdir -p ${OPENOCD_BUILD}
+        pushd ${OPENOCD_BUILD}
+        ${BUILD_PRECMD} ${GITHUB_WORKSPACE}/scripts/build_openocd.sh \
+          ${{ matrix.host.name }} \
+          ${OPENOCD_SOURCE} \
+          ${BUILD_OUTPUT}
+        popd
 
         # Create archive
         ARCHIVE_NAME=hosttools_${{ matrix.host.name }}
diff --git a/.gitmodules b/.gitmodules
index 66013bf7..af407549 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -40,3 +40,6 @@
 [submodule "qemu_xilinx"]
 	path = qemu_xilinx
 	url = https://github.com/zephyrproject-rtos/xilinx-qemu.git
+[submodule "openocd"]
+	path = openocd
+	url = https://github.com/zephyrproject-rtos/openocd.git
diff --git a/cmake/zephyr/host-tools.cmake b/cmake/zephyr/host-tools.cmake
index 1fb5b218..6712d7b3 100644
--- a/cmake/zephyr/host-tools.cmake
+++ b/cmake/zephyr/host-tools.cmake
@@ -26,7 +26,7 @@ elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL Darwin)
   list(APPEND CMAKE_PREFIX_PATH ${HOST_TOOLS_HOME}/usr)
 
   set_ifndef(QEMU_BIOS            ${HOST_TOOLS_HOME}/opt/qemu/share/qemu)
-  set_ifndef(OPENOCD_DEFAULT_PATH ${HOST_TOOLS_HOME}/opt/openocd/scripts)
+  set_ifndef(OPENOCD_DEFAULT_PATH ${HOST_TOOLS_HOME}/opt/openocd/share/openocd/scripts)
 elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL Windows)
   # For Windows SDK, each host tool component is placed in its own directory
   # under the host tools home directory.
@@ -35,7 +35,8 @@ elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL Windows)
   # Add host tool component binary directories to the prefix paths for
   # discovery by the find_program() function.
   list(APPEND CMAKE_PREFIX_PATH ${HOST_TOOLS_HOME}/qemu)
+  list(APPEND CMAKE_PREFIX_PATH ${HOST_TOOLS_HOME}/openocd)
 
   set_ifndef(QEMU_BIOS            ${HOST_TOOLS_HOME}/qemu/share)
-  set_ifndef(OPENOCD_DEFAULT_PATH ${HOST_TOOLS_HOME}/openocd/scripts)
+  set_ifndef(OPENOCD_DEFAULT_PATH ${HOST_TOOLS_HOME}/openocd/share/openocd/scripts)
 endif()
diff --git a/meta-zephyr-sdk/recipes-hosttools/openocd/openocd_git.bb b/meta-zephyr-sdk/recipes-hosttools/openocd/openocd_git.bb
index c8732610..59c25b46 100644
--- a/meta-zephyr-sdk/recipes-hosttools/openocd/openocd_git.bb
+++ b/meta-zephyr-sdk/recipes-hosttools/openocd/openocd_git.bb
@@ -6,7 +6,7 @@ RDEPENDS_${PN} = "libusb1 hidapi"
 SRC_URI = " \
 	gitsm://github.com/zephyrproject-rtos/openocd.git;protocol=https;nobranch=1 \
 	"
-SRCREV = "662bf274f881afa0aec2c21040eedb91146d8c4a"
+SRCREV = "${ZEPHYR_SDK_OPENOCD_SRCREV}"
 
 S = "${WORKDIR}/git"
 
diff --git a/meta-zephyr-sdk/scripts/meta-zephyr-sdk-build.sh b/meta-zephyr-sdk/scripts/meta-zephyr-sdk-build.sh
index 0a2b5e69..7f6e0b7b 100755
--- a/meta-zephyr-sdk/scripts/meta-zephyr-sdk-build.sh
+++ b/meta-zephyr-sdk/scripts/meta-zephyr-sdk-build.sh
@@ -58,6 +58,9 @@ export BB_ENV_PASSTHROUGH_ADDITIONS="${BB_ENV_PASSTHROUGH_ADDITIONS} ZEPHYR_SDK_
 export ZEPHYR_SDK_QEMU_XILINX_SRCREV=$(cd qemu_xilinx; git rev-parse HEAD)
 export BB_ENV_PASSTHROUGH_ADDITIONS="${BB_ENV_PASSTHROUGH_ADDITIONS} ZEPHYR_SDK_QEMU_XILINX_SRCREV"
 
+export ZEPHYR_SDK_OPENOCD_SRCREV=$(cd openocd; git rev-parse HEAD)
+export BB_ENV_PASSTHROUGH_ADDITIONS="${BB_ENV_PASSTHROUGH_ADDITIONS} ZEPHYR_SDK_OPENOCD_SRCREV"
+
 # setconf_var, i.e. "MACHINE","qemuarm",$localconf
 setconf_var()
 {
diff --git a/openocd b/openocd
new file mode 160000
index 00000000..662bf274
--- /dev/null
+++ b/openocd
@@ -0,0 +1 @@
+Subproject commit 662bf274f881afa0aec2c21040eedb91146d8c4a
diff --git a/scripts/build_openocd.sh b/scripts/build_openocd.sh
new file mode 100755
index 00000000..38a55d6c
--- /dev/null
+++ b/scripts/build_openocd.sh
@@ -0,0 +1,168 @@
+#!/usr/bin/env bash
+
+set -e
+
+LIBUSB_VERSION="1.0.29"
+HIDAPI_VERSION="0.15.0"
+LIBFTDI_VERSION="1.4"
+
+usage()
+{
+  echo "Usage: $(basename $0) host source output"
+}
+
+# Validate and parse arguments
+if [ "$1" == "" ]; then
+  usage
+  echo
+  echo "host must be specified."
+  exit 1
+elif [ "$2" == "" ]; then
+  usage
+  echo
+  echo "source must be specified."
+  exit 1
+elif [ "$3" == "" ]; then
+  usage
+  echo
+  echo "output must be specified."
+  exit 1
+fi
+
+BUILD_HOST="$1"
+BUILD_SOURCE="$2"
+BUILD_OUTPUT="$3"
+BUILD_SYSROOT="${PWD}/sysroot"
+
+# Set build parameters
+OPENOCD_FLAGS=" \
+  --enable-ftdi \
+  --enable-cmsis-dap \
+  --enable-jlink \
+  --enable-stlink \
+  --disable-doxygen-html \
+  --disable-git-update \
+  --disable-werror \
+  "
+
+if [ "${BUILD_HOST}" == "windows-x86_64" ]; then
+  BUILD_PREFIX="${BUILD_OUTPUT}/openocd"
+
+  OPENOCD_FLAGS+="--host=x86_64-w64-mingw32"
+elif [[ "${BUILD_HOST}" =~ ^macos-.* ]]; then
+  BUILD_PREFIX="${BUILD_OUTPUT}/opt/openocd"
+
+  case ${BUILD_HOST} in
+    macos-aarch64)
+      HOMEBREW_PREFIX="/opt/homebrew"
+      ;;
+    macos-x86_64)
+      HOMEBREW_PREFIX="/usr/local"
+      ;;
+  esac
+
+  # Ensure that arch-specific Homebrew environment is configured
+  eval $(${HOMEBREW_PREFIX}/bin/brew shellenv)
+
+  # Make pkg-config look for the libraries from the build sysroot
+  export PKG_CONFIG_PATH="${BUILD_SYSROOT}/lib/pkgconfig"
+
+  # Specify statically linked libraries and their dependencies
+  export LDFLAGS=" \
+    -framework CoreFoundation \
+    -framework IOKit \
+    -framework Security \
+    "
+
+  # Build static libraries required by OpenOCD. These libraries are manually
+  # built because the corresponding Homebrew packages do not provide usable
+  # static libraries.
+
+  ## libusb
+  wget https://github.com/libusb/libusb/releases/download/v${LIBUSB_VERSION}/libusb-${LIBUSB_VERSION}.tar.bz2
+  tar xvf libusb-${LIBUSB_VERSION}.tar.bz2
+  mkdir build-libusb
+  pushd build-libusb
+  ../libusb-${LIBUSB_VERSION}/configure \
+    --prefix=${BUILD_SYSROOT} \
+    --enable-static \
+    --disable-shared
+  make -j
+  make install
+  popd
+
+  ## hidapi
+  wget https://github.com/libusb/hidapi/archive/refs/tags/hidapi-${HIDAPI_VERSION}.tar.gz
+  tar xvf hidapi-${HIDAPI_VERSION}.tar.gz
+  mkdir build-hidapi
+  pushd build-hidapi
+  cmake \
+    -DCMAKE_INSTALL_PREFIX=${BUILD_SYSROOT} \
+    -DBUILD_SHARED_LIBS=OFF \
+    ../hidapi-hidapi-${HIDAPI_VERSION}
+  cmake --build .
+  cmake --install .
+  popd
+
+  ## libftdi
+  wget https://www.intra2net.com/en/developer/libftdi/download/libftdi1-${LIBFTDI_VERSION}.tar.bz2
+  tar xvf libftdi1-${LIBFTDI_VERSION}.tar.bz2
+  mkdir build-libftdi
+  pushd build-libftdi
+  cmake \
+    -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \
+    -DCMAKE_PREFIX_PATH=${BUILD_SYSROOT} \
+    -DCMAKE_INSTALL_PREFIX=${BUILD_SYSROOT} \
+    -DCMAKE_DISABLE_FIND_PACKAGE_Boost=ON \
+    -DSTATICLIBS=ON \
+    -DBUILD_TESTS=OFF \
+    -DDOCUMENTATION=OFF \
+    ../libftdi1-${LIBFTDI_VERSION}
+  cmake --build .
+  cmake --install .
+  rm -f ${BUILD_SYSROOT}/lib/libftdi*.dylib
+  popd
+else
+  echo "ERROR: Invalid build host '${BUILD_HOST}'"
+  exit 1
+fi
+
+# Build OpenOCD
+pushd ${BUILD_SOURCE}
+./bootstrap
+popd
+
+mkdir build-openocd
+pushd build-openocd
+
+${BUILD_SOURCE}/configure \
+  ${OPENOCD_FLAGS} \
+  --prefix="${BUILD_PREFIX}"
+
+make -j
+make install
+
+popd
+
+# Copy required dynamic-link libraries for Windows
+if [ "${BUILD_HOST}" == "windows-x86_64" ]; then
+  OPENOCD_WIN_LIBS=" \
+    /opt/mingw-w64-win32/x86_64-w64-mingw32/bin/libftdi1.dll \
+    /opt/mingw-w64-win32/x86_64-w64-mingw32/bin/libhidapi.dll \
+    /opt/mingw-w64-win32/x86_64-w64-mingw32/bin/libusb-1.0.dll \
+    "
+
+  for l in ${OPENOCD_WIN_LIBS}; do
+    cp -f ${l} ${BUILD_PREFIX}/bin
+  done
+fi
+
+# Symlink OpenOCD executable for macOS
+if [[ "${BUILD_HOST}" =~ ^macos-.* ]]; then
+  mkdir -p ${BUILD_OUTPUT}/usr/bin
+  pushd ${BUILD_OUTPUT}/usr/bin
+
+  ln -sf ../../opt/openocd/bin/openocd openocd
+
+  popd
+fi
diff --git a/scripts/build_qemu.sh b/scripts/build_qemu.sh
index 56aa59d9..882a7e0e 100755
--- a/scripts/build_qemu.sh
+++ b/scripts/build_qemu.sh
@@ -1,4 +1,4 @@
-#/usr/bin/env bash
+#!/usr/bin/env bash
 
 set -e