diff --git a/cmake/app/boilerplate.cmake b/cmake/app/boilerplate.cmake
index 769499a1e57..6d7f628b354 100644
--- a/cmake/app/boilerplate.cmake
+++ b/cmake/app/boilerplate.cmake
@@ -186,6 +186,65 @@ message(STATUS "Selected BOARD ${BOARD}")
 # Store the selected board in the cache
 set(CACHED_BOARD ${BOARD} CACHE STRING "Selected board")
 
+# The SHIELD can be set by 3 sources. Through environment variables,
+# through the cmake CLI, and through CMakeLists.txt.
+#
+# CLI has the highest precedence, then comes environment variables,
+# and then finally CMakeLists.txt.
+#
+# A user can ignore all the precedence rules if he simply always uses
+# the same source. E.g. always specifies -DSHIELD= on the command line,
+# always has an environment variable set, or always has a set(SHIELD
+# foo) line in his CMakeLists.txt and avoids mixing sources.
+#
+# The selected SHIELD can be accessed through the variable 'SHIELD'.
+
+# Read out the cached shield value if present
+get_property(cached_shield_value CACHE SHIELD PROPERTY VALUE)
+
+# There are actually 4 sources, the three user input sources, and the
+# previously used value (CACHED_SHIELD). The previously used value has
+# precedence, and if we detect that the user is trying to change the
+# value we give him a warning about needing to clean the build
+# directory to be able to change shields.
+
+set(shield_cli_argument ${cached_shield_value}) # Either new or old
+if(shield_cli_argument STREQUAL CACHED_SHIELD)
+  # We already have a CACHED_SHIELD so there is no new input on the CLI
+  unset(shield_cli_argument)
+endif()
+
+set(shield_app_cmake_lists ${SHIELD})
+if(cached_shield_value STREQUAL SHIELD)
+  # The app build scripts did not set a default, The SHIELD we are
+  # reading is the cached value from the CLI
+  unset(shield_app_cmake_lists)
+endif()
+
+if(CACHED_SHIELD)
+  # Warn the user if it looks like he is trying to change the shield
+  # without cleaning first
+  if(shield_cli_argument)
+    if(NOT (CACHED_SHIELD STREQUAL shield_cli_argument))
+      message(WARNING "The build directory must be cleaned pristinely when changing shields")
+      # TODO: Support changing shields without requiring a clean build
+    endif()
+  endif()
+
+  set(SHIELD ${CACHED_SHIELD})
+elseif(shield_cli_argument)
+  set(SHIELD ${shield_cli_argument})
+
+elseif(DEFINED ENV{SHIELD})
+  set(SHIELD $ENV{SHIELD})
+
+elseif(shield_app_cmake_lists)
+  set(SHIELD ${shield_app_cmake_lists})
+endif()
+
+# Store the selected shield in the cache
+set(CACHED_SHIELD ${SHIELD} CACHE STRING "Selected shield")
+
 # 'BOARD_ROOT' is a prioritized list of directories where boards may
 # be found. It always includes ${ZEPHYR_BASE} at the lowest priority.
 list(APPEND BOARD_ROOT ${ZEPHYR_BASE})
@@ -210,6 +269,48 @@ foreach(root ${BOARD_ROOT})
   if(BOARD_DIR AND NOT (${root} STREQUAL ${ZEPHYR_BASE}))
     set(USING_OUT_OF_TREE_BOARD 1)
   endif()
+
+  set(shield_dir ${root}/boards/shields)
+  if(DEFINED SHIELD)
+     string(REPLACE " " ";" SHIELD_AS_LIST "${SHIELD}")
+  endif()
+  # Match the .overlay files in the shield directories to make sure we are
+  # finding shields, e.g. x_nucleo_iks01a1/x_nucleo_iks01a1.overlay
+  file(GLOB_RECURSE shields_refs_list
+    RELATIVE ${shield_dir}
+    ${shield_dir}/*/*.overlay
+    )
+
+  # The above gives a list like
+  # x_nucleo_iks01a1/x_nucleo_iks01a1.overlay;x_nucleo_iks01a2/x_nucleo_iks01a2.overlay
+  # we construct a list of shield names by extracting file name and
+  # removing the extension.
+  foreach(shield_path ${shields_refs_list})
+    get_filename_component(shield ${shield_path} NAME_WE)
+    list(APPEND SHIELD_LIST ${shield})
+  endforeach()
+
+  if(DEFINED SHIELD)
+    foreach(s ${SHIELD_AS_LIST})
+      list(FIND SHIELD_LIST ${s} _idx)
+      if (NOT _idx EQUAL -1)
+        list(GET shields_refs_list ${_idx} s_path)
+
+        # if shield config flag is on, add shield overlay to the shield overlays
+        # list and dts_fixup file to the shield fixup file
+        list(APPEND
+          shield_dts_files
+          ${shield_dir}/${s_path}
+        )
+        list(APPEND
+          shield_dts_fixups
+          ${shield_dir}/${s}/dts_fixup.h
+        )
+      else()
+        list(APPEND NOT_FOUND_SHIELD_LIST ${s})
+      endif()
+    endforeach()
+  endif()
 endforeach()
 
 if(NOT BOARD_DIR)
@@ -219,6 +320,15 @@ if(NOT BOARD_DIR)
   message(FATAL_ERROR "Invalid usage")
 endif()
 
+if(DEFINED SHIELD AND DEFINED NOT_FOUND_SHIELD_LIST)
+  foreach (s ${NOT_FOUND_SHIELD_LIST})
+    message("No shield named '${s}' found")
+  endforeach()
+  print_usage()
+  unset(CACHED_SHIELD CACHE)
+  message(FATAL_ERROR "Invalid usage")
+endif()
+
 get_filename_component(BOARD_ARCH_DIR ${BOARD_DIR}      DIRECTORY)
 get_filename_component(BOARD_FAMILY   ${BOARD_DIR}      NAME)
 get_filename_component(ARCH           ${BOARD_ARCH_DIR} NAME)
diff --git a/cmake/dts.cmake b/cmake/dts.cmake
index 073c52f7fd6..b1b76aa8a1e 100644
--- a/cmake/dts.cmake
+++ b/cmake/dts.cmake
@@ -18,44 +18,9 @@ set_ifndef(DTS_APP_INCLUDE ${APPLICATION_SOURCE_DIR}/dts)
 set(dts_files
   ${DTS_SOURCE}
   ${DTS_COMMON_OVERLAYS}
+  ${shield_dts_files}
   )
 
-# Parse boards/shields of each board root to generate the shield list
-foreach(board_root ${BOARD_ROOT})
-  set(shield_dir ${board_root}/boards/shields)
-
-  # Match the .overlay files in the shield directories to make sure we are
-  # finding shields, e.g. x_nucleo_iks01a1/x_nucleo_iks01a1.overlay
-  file(GLOB_RECURSE shields_refs_list
-    RELATIVE ${shield_dir}
-    ${shield_dir}/*/*.overlay
-    )
-
-  # The above gives a list like
-  # x_nucleo_iks01a1/x_nucleo_iks01a1.overlay;x_nucleo_iks01a2/x_nucleo_iks01a2.overlay
-  # we construct a list of shield names by extracting file name and
-  # removing the extension.
-  foreach(shield_path ${shields_refs_list})
-    get_filename_component(shield ${shield_path} NAME_WE)
-
-    # Generate CONFIG flags matching each shield
-    string(TOUPPER "CONFIG_SHIELD_${shield}" shield_config)
-
-    if(${shield_config})
-      # if shield config flag is on, add shield overlay to the shield overlays
-      # list and dts_fixup file to the shield fixup file
-      list(APPEND
-        dts_files
-        ${shield_dir}/${shield_path}
-      )
-      list(APPEND
-        dts_fixups
-        ${shield_dir}/${shield}/dts_fixup.h
-      )
-    endif()
-  endforeach()
-endforeach()
-
 if(CONFIG_HAS_DTS)
 
   if(DTC_OVERLAY_FILE)
@@ -155,6 +120,7 @@ if(CONFIG_HAS_DTS)
     ${DTS_BOARD_FIXUP_FILE}
     ${DTS_SOC_FIXUP_FILE}
     ${APPLICATION_SOURCE_DIR}/dts_fixup.h
+    ${shield_dts_fixups}
     )
 
   foreach(fixup ${dts_fixups})
diff --git a/cmake/extensions.cmake b/cmake/extensions.cmake
index 344b2812e67..a19b07329ee 100644
--- a/cmake/extensions.cmake
+++ b/cmake/extensions.cmake
@@ -1108,10 +1108,12 @@ endmacro()
 function(print_usage)
   message("see usage:")
   string(REPLACE ";" " " BOARD_ROOT_SPACE_SEPARATED "${BOARD_ROOT}")
+  string(REPLACE ";" " " SHIELD_LIST_SPACE_SEPARATED "${SHIELD_LIST}")
   execute_process(
     COMMAND
     ${CMAKE_COMMAND}
     -DBOARD_ROOT_SPACE_SEPARATED=${BOARD_ROOT_SPACE_SEPARATED}
+    -DSHIELD_LIST_SPACE_SEPARATED=${SHIELD_LIST_SPACE_SEPARATED}
     -P ${ZEPHYR_BASE}/cmake/usage/usage.cmake
     )
 endfunction()
diff --git a/cmake/usage/CMakeLists.txt b/cmake/usage/CMakeLists.txt
index 85ad5d1cc60..9a1001de554 100644
--- a/cmake/usage/CMakeLists.txt
+++ b/cmake/usage/CMakeLists.txt
@@ -1,9 +1,11 @@
 string(REPLACE ";" " " BOARD_ROOT_SPACE_SEPARATED "${BOARD_ROOT}")
+string(REPLACE ";" " " SHIELD_LIST_SPACE_SEPARATED "${SHIELD_LIST}")
 
 add_custom_target(
   usage
   ${CMAKE_COMMAND}
   -DBOARD_ROOT_SPACE_SEPARATED=${BOARD_ROOT_SPACE_SEPARATED}
+  -DSHIELD_LIST_SPACE_SEPARATED=${SHIELD_LIST_SPACE_SEPARATED}
   -P ${CMAKE_CURRENT_SOURCE_DIR}/usage.cmake
   )
 
diff --git a/cmake/usage/usage.cmake b/cmake/usage/usage.cmake
index 05b19f9cb86..34dbbbdde05 100644
--- a/cmake/usage/usage.cmake
+++ b/cmake/usage/usage.cmake
@@ -13,6 +13,7 @@ set(arch_list
   )
 
 string(REPLACE " " ";" BOARD_ROOT "${BOARD_ROOT_SPACE_SEPARATED}")
+string(REPLACE " " ";" SHIELD_LIST "${SHIELD_LIST_SPACE_SEPARATED}")
 
 foreach(arch ${arch_list})
   foreach(root ${BOARD_ROOT})
@@ -60,11 +61,12 @@ message("Supported Boards:")
 message("")
 message("  To generate project files for one of the supported boards below, run:")
 message("")
-message("  $ cmake -DBOARD=<BOARD NAME> -Bpath/to/build_dir -Hpath/to/source_dir")
+message("  $ cmake -DBOARD=<BOARD NAME> [-DSHIELD=<SHIELD NAME>] -Bpath/to/build_dir -Hpath/to/source_dir")
 message("")
 message("  or")
 message("")
 message("  $ export BOARD=<BOARD NAME>")
+message("  $ export SHIELD=<SHIELD NAME> #optional")
 message("  $ cmake -Bpath/to/build_dir -Hpath/to/source_dir")
 message("")
 foreach(arch ${arch_list})
@@ -74,6 +76,12 @@ foreach(arch ${arch_list})
   endforeach()
 endforeach()
 message("")
+message("Supported Shields:")
+message("")
+foreach(shield ${SHIELD_LIST})
+  message(" ${shield}")
+endforeach()
+message("")
 message("Build flags:")
 message("")
 message("  ${generator} VERBOSE=1 [targets] verbose build")
diff --git a/doc/porting/shields.rst b/doc/porting/shields.rst
index 7c261625a3e..e643595a87b 100644
--- a/doc/porting/shields.rst
+++ b/doc/porting/shields.rst
@@ -17,22 +17,11 @@ under :file:`/boards/shields`:
 .. code-block:: none
 
    boards/shields/<shield>
-   ├── Kconfig.shield
-   ├── Kconfig.defconfig
    ├── <shield>.overlay
    └── dts_fixup.h
 
 These files provides shield configuration as follows:
 
-* **Kconfig.shield**: This file defines the shield's config flag
-  (CONFIG_SHIELD_X). Applications use this flag to trigger the shield
-  configuration on top of the board configuration, enabling each shield
-  component or sensor driver.
-
-* **Kconfig.defconfig**: This file provides conditional configuration of
-  specific driver default configurations, offering flexibility for broad
-  board support.
-
 * **<shield>.overlay**: This file provides a shield description in device tree
   format that is merged with the board's device tree information before
   compilation.
@@ -74,9 +63,17 @@ introduced overriding node element:
 Shield activation
 *****************
 
-Activate support for a shield by enabling the corresponding Kconfig shield
-option in the application's prj.conf file.
+Activate support for a shield by adding the matching -DSHIELD arg to CMake
+command
+
+  .. zephyr-app-commands::
+     :zephyr-app: your_app
+     :gen-args: -DSHIELD=x_nucleo_iks01a1
+     :goals: build
+
+
+Alternatively, it could be set by default in a project's CMakeLists.txt:
 
 .. code-block:: none
 
-        #CONFIG_SHIELD_X_NUCLEO_IKS01A2=y
+	set(SHIELD x_nucleo_iks01a1)
diff --git a/samples/bluetooth/peripheral_hr/CMakeLists.txt b/samples/bluetooth/peripheral_hr/CMakeLists.txt
index 28edde4b97c..04f10ca6936 100644
--- a/samples/bluetooth/peripheral_hr/CMakeLists.txt
+++ b/samples/bluetooth/peripheral_hr/CMakeLists.txt
@@ -1,4 +1,14 @@
 cmake_minimum_required(VERSION 3.13.1)
+
+# Some boards could run this sample using frdm_kw41z shield, enforce
+# -DSHIELD option in case they are used
+if(BOARD STREQUAL mimxrt1020_evk OR
+   BOARD STREQUAL mimxrt1050_evk OR
+   BOARD STREQUAL mimxrt1060_evk OR
+   BOARD STREQUAL frdm_k64f)
+set(SHIELD frdm_kw41z)
+endif()
+
 include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
 project(peripheral_hr)
 
diff --git a/samples/bluetooth/peripheral_hr/overlay-shield_frdm_kw41z.conf b/samples/bluetooth/peripheral_hr/overlay-shield_frdm_kw41z.conf
deleted file mode 100644
index 1c6f93e315c..00000000000
--- a/samples/bluetooth/peripheral_hr/overlay-shield_frdm_kw41z.conf
+++ /dev/null
@@ -1,7 +0,0 @@
-#
-# Copyright (c) 2018, NXP
-#
-# SPDX-License-Identifier: Apache-2.0
-#
-
-CONFIG_SHIELD_FRDM_KW41Z=y
diff --git a/samples/bluetooth/peripheral_hr/sample.yaml b/samples/bluetooth/peripheral_hr/sample.yaml
index a882d5ac050..4beb080fcef 100644
--- a/samples/bluetooth/peripheral_hr/sample.yaml
+++ b/samples/bluetooth/peripheral_hr/sample.yaml
@@ -4,10 +4,5 @@ sample:
 tests:
   test:
     harness: bluetooth
-    platform_whitelist: qemu_cortex_m3 qemu_x86
-    tags: bluetooth
-  test.overlay-shield_frdm_kw41z:
-    harness: bluetooth
-    extra_args: OVERLAY_CONFIG=overlay-shield_frdm_kw41z.conf
-    platform_whitelist: mimxrt1020_evk mimxrt1050_evk mimxrt1060_evk frdm_k64f
+    platform_whitelist: qemu_cortex_m3 qemu_x86 mimxrt1020_evk mimxrt1050_evk mimxrt1060_evk frdm_k64f
     tags: bluetooth
diff --git a/samples/shields/x_nucleo_iks01a1/CMakeLists.txt b/samples/shields/x_nucleo_iks01a1/CMakeLists.txt
index 02ab9fd6456..d4242783e01 100644
--- a/samples/shields/x_nucleo_iks01a1/CMakeLists.txt
+++ b/samples/shields/x_nucleo_iks01a1/CMakeLists.txt
@@ -1,5 +1,8 @@
 cmake_minimum_required(VERSION 3.13.1)
 
+# This sample is specific to x_nucleo_iks01a1 shield. Enforce -DSHIELD option
+set(SHIELD x_nucleo_iks01a1)
+
 include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
 project(x_nucleo_iks01a1)
 
diff --git a/samples/shields/x_nucleo_iks01a1/README.rst b/samples/shields/x_nucleo_iks01a1/README.rst
index 8dd2f438d0f..406db5b2163 100644
--- a/samples/shields/x_nucleo_iks01a1/README.rst
+++ b/samples/shields/x_nucleo_iks01a1/README.rst
@@ -20,6 +20,9 @@ This sample communicates over I2C with the X-NUCLEO-IKS01A1 shield
 stacked on a board with an Arduino connector. The board's I2C must be
 configured for the I2C Arduino connector (both for pin muxing
 and device tree).
+Please note that this sample can't be used with boards already supporting
+one of the sensors available on the shield (such as disco_l475_iot1) as zephyr
+does not yet support sensors multiple instances.
 
 References
 **********
diff --git a/samples/shields/x_nucleo_iks01a1/prj.conf b/samples/shields/x_nucleo_iks01a1/prj.conf
index 305ffb25faa..c164f74a04c 100644
--- a/samples/shields/x_nucleo_iks01a1/prj.conf
+++ b/samples/shields/x_nucleo_iks01a1/prj.conf
@@ -1,2 +1,10 @@
 CONFIG_STDOUT_CONSOLE=y
-CONFIG_SHIELD_X_NUCLEO_IKS01A1=y
+CONFIG_I2C=y
+CONFIG_I2C_STM32_INTERRUPT=y
+CONFIG_SENSOR=y
+CONFIG_HTS221=y
+CONFIG_LPS25HB=y
+CONFIG_LSM6DS0=y
+CONFIG_LIS3MDL=y
+CONFIG_HTS221_TRIGGER_NONE=y
+CONFIG_LIS3MDL_TRIGGER_NONE=y
diff --git a/samples/shields/x_nucleo_iks01a1/sample.yaml b/samples/shields/x_nucleo_iks01a1/sample.yaml
index bfddeae065b..c9aacb3e047 100644
--- a/samples/shields/x_nucleo_iks01a1/sample.yaml
+++ b/samples/shields/x_nucleo_iks01a1/sample.yaml
@@ -6,3 +6,4 @@ tests:
     harness: shield
     tags: shield
     depends_on: arduino_i2c
+    platform_exclude: disco_l475_iot1