diff --git a/test/common_test/CMakeLists.txt b/test/common_test/CMakeLists.txt
index 89054a577..2c1d1c4bd 100644
--- a/test/common_test/CMakeLists.txt
+++ b/test/common_test/CMakeLists.txt
@@ -14,6 +14,8 @@ set(tests
   world_features
 )
 
+set(TEST_INSTALL_DIR ${CMAKE_INSTALL_LIBEXECDIR}/gz/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}/)
+
 function(configure_common_test PHYSICS_ENGINE_NAME test_name)
   add_test(NAME ${test_name}_${PHYSICS_ENGINE_NAME}
     COMMAND
@@ -45,6 +47,8 @@ foreach(test ${tests})
     "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\""
   )
 
+  install(TARGETS ${test_executable} DESTINATION ${TEST_INSTALL_DIR})
+
   if (${BULLET_FOUND})
     configure_common_test("bullet" ${test_executable})
     configure_common_test("bullet-featherstone" ${test_executable})
diff --git a/test/helpers/CMakeLists.txt b/test/helpers/CMakeLists.txt
index a7e33775b..3e2dd7251 100644
--- a/test/helpers/CMakeLists.txt
+++ b/test/helpers/CMakeLists.txt
@@ -7,3 +7,4 @@ target_link_libraries(${PROJECT_NAME}_test_lib_loader
     ${PROJECT_LIBRARY_TARGET_NAME}
     gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
 )
+install(TARGETS ${PROJECT_NAME}_test_lib_loader DESTINATION ${GZ_LIB_INSTALL_DIR})