diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index 7d7fbbe02..a3086382a 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -3,5 +3,6 @@ libignition-cmake2-dev
 libpython3-dev
 python3-distutils
 python3-pybind11
+python3-pytest
 ruby-dev
 swig
diff --git a/src/python_pybind11/CMakeLists.txt b/src/python_pybind11/CMakeLists.txt
index 22adef2d0..5967f17dc 100644
--- a/src/python_pybind11/CMakeLists.txt
+++ b/src/python_pybind11/CMakeLists.txt
@@ -141,9 +141,25 @@ if (BUILD_TESTING)
     Vector4_TEST
   )
 
+  execute_process(COMMAND "${Python3_EXECUTABLE}" -m pytest --version
+    OUTPUT_VARIABLE PYTEST_output
+    ERROR_VARIABLE  PYTEST_error
+    RESULT_VARIABLE PYTEST_result)
+  if(${PYTEST_result} EQUAL 0)
+    set(pytest_FOUND TRUE)
+  else()
+    message("")
+    message(WARNING "Pytest package not available: ${PYTEST_error}")
+  endif()
+
   foreach (test ${python_tests})
-    add_test(NAME ${test}.py COMMAND
-      "${PYTHON_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/src/python_pybind11/test/${test}.py")
+    if (pytest_FOUND)
+      add_test(NAME ${test}.py COMMAND
+        "${Python3_EXECUTABLE}" -m pytest "${CMAKE_SOURCE_DIR}/src/python_pybind11/test/${test}.py" --junitxml "${CMAKE_BINARY_DIR}/test_results/${test}.xml")
+    else()
+      add_test(NAME ${test}.py COMMAND
+        "${Python3_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/src/python_pybind11/test/${test}.py")
+    endif()
 
     set(_env_vars)
     list(APPEND _env_vars "PYTHONPATH=${FAKE_INSTALL_PREFIX}/lib/python/")