diff --git a/arch/arm/core/aarch32/irq_manage.c b/arch/arm/core/aarch32/irq_manage.c
index 13d59d8457d..918a8a8170c 100644
--- a/arch/arm/core/aarch32/irq_manage.c
+++ b/arch/arm/core/aarch32/irq_manage.c
@@ -27,7 +27,7 @@
 #include <linker/sections.h>
 #include <sw_isr_table.h>
 #include <irq.h>
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 
 extern void z_arm_reserved(void);
 
diff --git a/arch/arm/core/aarch64/irq_manage.c b/arch/arm/core/aarch64/irq_manage.c
index e5717550bd9..edd27c1a065 100644
--- a/arch/arm/core/aarch64/irq_manage.c
+++ b/arch/arm/core/aarch64/irq_manage.c
@@ -12,7 +12,7 @@
 #include <kernel.h>
 #include <arch/cpu.h>
 #include <device.h>
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 #include <irq.h>
 #include <irq_nextlevel.h>
 #include <toolchain.h>
diff --git a/arch/nios2/core/irq_manage.c b/arch/nios2/core/irq_manage.c
index cd0ee540e8d..09ed2fd9ae5 100644
--- a/arch/nios2/core/irq_manage.c
+++ b/arch/nios2/core/irq_manage.c
@@ -18,7 +18,7 @@
 #include <sw_isr_table.h>
 #include <ksched.h>
 #include <kswap.h>
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 #include <logging/log.h>
 LOG_MODULE_DECLARE(os);
 
diff --git a/arch/posix/core/cpuhalt.c b/arch/posix/core/cpuhalt.c
index adae4182ac9..f43f0ed1864 100644
--- a/arch/posix/core/cpuhalt.c
+++ b/arch/posix/core/cpuhalt.c
@@ -22,7 +22,7 @@
 
 #include "posix_core.h"
 #include <arch/posix/posix_soc_if.h>
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 
 void arch_cpu_idle(void)
 {
diff --git a/arch/x86/core/cpuhalt.c b/arch/x86/core/cpuhalt.c
index af6247fdbc5..f124f900bff 100644
--- a/arch/x86/core/cpuhalt.c
+++ b/arch/x86/core/cpuhalt.c
@@ -4,7 +4,7 @@
  */
 
 #include <zephyr.h>
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 #include <arch/cpu.h>
 
 void arch_cpu_idle(void)
diff --git a/arch/x86/core/ia32/irq_manage.c b/arch/x86/core/ia32/irq_manage.c
index c79a07251f2..25a87a10eb3 100644
--- a/arch/x86/core/ia32/irq_manage.c
+++ b/arch/x86/core/ia32/irq_manage.c
@@ -20,7 +20,7 @@
 #include <sys/__assert.h>
 #include <sys/printk.h>
 #include <irq.h>
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 #include <kswap.h>
 #include <arch/x86/ia32/segmentation.h>
 
diff --git a/arch/xtensa/core/cpu_idle.c b/arch/xtensa/core/cpu_idle.c
index 8f0c04a4c18..7ce4ca6c341 100644
--- a/arch/xtensa/core/cpu_idle.c
+++ b/arch/xtensa/core/cpu_idle.c
@@ -3,7 +3,7 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 
 void arch_cpu_idle(void)
 {
diff --git a/boards/posix/native_posix/irq_handler.c b/boards/posix/native_posix/irq_handler.c
index 9e15853dbdb..9099e70857d 100644
--- a/boards/posix/native_posix/irq_handler.c
+++ b/boards/posix/native_posix/irq_handler.c
@@ -18,7 +18,7 @@
 #include "board_soc.h"
 #include "sw_isr_table.h"
 #include "soc.h"
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 
 typedef void (*normal_irq_f_ptr)(void *);
 typedef int (*direct_irq_f_ptr)(void);
diff --git a/boards/posix/nrf52_bsim/irq_handler.c b/boards/posix/nrf52_bsim/irq_handler.c
index 43594d8c722..72ecd726022 100644
--- a/boards/posix/nrf52_bsim/irq_handler.c
+++ b/boards/posix/nrf52_bsim/irq_handler.c
@@ -17,7 +17,7 @@
 #include "sw_isr_table.h"
 #include "soc.h"
 #include "bs_tracing.h"
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 #include "bstests.h"
 
 static bool CPU_will_be_awaken_from_WFE;
diff --git a/doc/guides/tracing/index.rst b/doc/guides/tracing/index.rst
index e9e64ddf352..4c7447446b8 100644
--- a/doc/guides/tracing/index.rst
+++ b/doc/guides/tracing/index.rst
@@ -11,7 +11,7 @@ your application and allows enabled backends to visualize the inner-working of
 the kernel and various subsystems.
 
 Applications and tracing tools can create a backend that redefines the
-macros declared in :zephyr_file:`include/debug/tracing.h` that are called
+macros declared in :zephyr_file:`include/tracing/tracing.h` that are called
 across the kernel in key spots.
 
 .. doxygengroup:: tracing_apis
diff --git a/include/arch/x86/ia32/arch.h b/include/arch/x86/ia32/arch.h
index f200396125f..364f7ff54a6 100644
--- a/include/arch/x86/ia32/arch.h
+++ b/include/arch/x86/ia32/arch.h
@@ -239,7 +239,9 @@ static inline void arch_irq_direct_pm(void)
 #define ARCH_ISR_DIRECT_HEADER() arch_isr_direct_header()
 #define ARCH_ISR_DIRECT_FOOTER(swap) arch_isr_direct_footer(swap)
 
-/* FIXME: debug/tracing.h cannot be included here due to circular dependency */
+/* FIXME:
+ * tracing/tracing.h cannot be included here due to circular dependency
+ */
 #if defined(CONFIG_TRACING)
 extern void sys_trace_isr_enter(void);
 extern void sys_trace_isr_exit(void);
diff --git a/include/debug/tracing.h b/include/debug/tracing.h
index 5425aafbe44..956359866f1 100644
--- a/include/debug/tracing.h
+++ b/include/debug/tracing.h
@@ -1,139 +1,12 @@
-/*
- * Copyright (c) 2018 Intel Corporation
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-#ifndef ZEPHYR_INCLUDE_DEBUG_TRACING_H_
-#define ZEPHYR_INCLUDE_DEBUG_TRACING_H_
+ /*
+  * Copyright (c) 2020 Intel Corporation
+  *
+  * SPDX-License-Identifier: Apache-2.0
+  */
 
-#include <kernel.h>
-
-/* Below IDs are used with systemview, not final to the zephyr tracing API */
-#define SYS_TRACE_ID_OFFSET                  (32u)
-
-#define SYS_TRACE_ID_MUTEX_INIT              (1u + SYS_TRACE_ID_OFFSET)
-#define SYS_TRACE_ID_MUTEX_UNLOCK            (2u + SYS_TRACE_ID_OFFSET)
-#define SYS_TRACE_ID_MUTEX_LOCK              (3u + SYS_TRACE_ID_OFFSET)
-#define SYS_TRACE_ID_SEMA_INIT               (4u + SYS_TRACE_ID_OFFSET)
-#define SYS_TRACE_ID_SEMA_GIVE               (5u + SYS_TRACE_ID_OFFSET)
-#define SYS_TRACE_ID_SEMA_TAKE               (6u + SYS_TRACE_ID_OFFSET)
-
-#ifdef CONFIG_SEGGER_SYSTEMVIEW
-#include "tracing_sysview.h"
-
-#elif defined CONFIG_TRACING_CPU_STATS
-#include "tracing_cpu_stats.h"
-
-#elif defined CONFIG_TRACING_CTF
-#include "tracing_ctf.h"
-
-#elif defined CONFIG_TRACING_TEST
-#include "tracing_test.h"
-
-#else
-
-/**
- * @brief Tracing APIs
- * @defgroup tracing_apis Tracing APIs
- * @{
- */
-/**
- * @brief Called before a thread has been selected to run
- */
-#define sys_trace_thread_switched_out()
-
-/**
- * @brief Called after a thread has been selected to run
- */
-#define sys_trace_thread_switched_in()
-
-/**
- * @brief Called when setting priority of a thread
- */
-#define sys_trace_thread_priority_set(thread)
-
-/**
- * @brief Called when a thread is being created
- */
-#define sys_trace_thread_create(thread)
-
-/**
- * @brief Called when a thread is being aborted
- *
- */
-#define sys_trace_thread_abort(thread)
-
-/**
- * @brief Called when a thread is being suspended
- * @param thread Thread structure
- */
-#define sys_trace_thread_suspend(thread)
-
-/**
- * @brief Called when a thread is being resumed from suspension
- * @param thread Thread structure
- */
-#define sys_trace_thread_resume(thread)
-
-/**
- * @brief Called when a thread is ready to run
- * @param thread Thread structure
- */
-#define sys_trace_thread_ready(thread)
-
-/**
- * @brief Called when a thread is pending
- * @param thread Thread structure
- */
-#define sys_trace_thread_pend(thread)
-
-/**
- * @brief Provide information about specific thread
- * @param thread Thread structure
- */
-#define sys_trace_thread_info(thread)
-
-/**
- * @brief Called when a thread name is set
- * @param thread Thread structure
- */
-#define sys_trace_thread_name_set(thread)
-
-/**
- * @brief Called when entering an ISR
- */
-#define sys_trace_isr_enter()
-
-/**
- * @brief Called when exiting an ISR
- */
-#define sys_trace_isr_exit()
-
-/**
- * @brief Called when exiting an ISR and switching to scheduler
- */
-#define sys_trace_isr_exit_to_scheduler()
-
-/**
- * @brief Can be called with any id signifying a new call
- * @param id ID of the operation that was started
- */
-#define sys_trace_void(id)
-
-/**
- * @brief Can be called with any id signifying ending a call
- * @param id ID of the operation that was completed
- */
-#define sys_trace_end_call(id)
-
-/**
- * @brief Called when the cpu enters the idle state
- */
-#define sys_trace_idle()
-
-/**
- * @}
- */
+#ifndef ZEPHYR_INCLUDE_DEBUG_TRACING_H
+#define ZEPHYR_INCLUDE_DEBUG_TRACING_H
+#warning "This header file has moved, include <tracing/tracing.h> instead."
 
-#endif
+#include <tracing/tracing.h>
 #endif
diff --git a/include/kernel.h b/include/kernel.h
index 040626c3b60..f51fd3046bb 100644
--- a/include/kernel.h
+++ b/include/kernel.h
@@ -5357,7 +5357,7 @@ __syscall int k_float_disable(struct k_thread *thread);
 }
 #endif
 
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 #include <syscalls/kernel.h>
 
 #endif /* !_ASMLANGUAGE */
diff --git a/include/tracing/tracing.h b/include/tracing/tracing.h
new file mode 100644
index 00000000000..39f4b542af5
--- /dev/null
+++ b/include/tracing/tracing.h
@@ -0,0 +1,139 @@
+/*
+ * Copyright (c) 2018 Intel Corporation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#ifndef ZEPHYR_INCLUDE_TRACING_TRACING_H_
+#define ZEPHYR_INCLUDE_TRACING_TRACING_H_
+
+#include <kernel.h>
+
+/* Below IDs are used with systemview, not final to the zephyr tracing API */
+#define SYS_TRACE_ID_OFFSET                  (32u)
+
+#define SYS_TRACE_ID_MUTEX_INIT              (1u + SYS_TRACE_ID_OFFSET)
+#define SYS_TRACE_ID_MUTEX_UNLOCK            (2u + SYS_TRACE_ID_OFFSET)
+#define SYS_TRACE_ID_MUTEX_LOCK              (3u + SYS_TRACE_ID_OFFSET)
+#define SYS_TRACE_ID_SEMA_INIT               (4u + SYS_TRACE_ID_OFFSET)
+#define SYS_TRACE_ID_SEMA_GIVE               (5u + SYS_TRACE_ID_OFFSET)
+#define SYS_TRACE_ID_SEMA_TAKE               (6u + SYS_TRACE_ID_OFFSET)
+
+#ifdef CONFIG_SEGGER_SYSTEMVIEW
+#include "tracing_sysview.h"
+
+#elif defined CONFIG_TRACING_CPU_STATS
+#include "tracing_cpu_stats.h"
+
+#elif defined CONFIG_TRACING_CTF
+#include "tracing_ctf.h"
+
+#elif defined CONFIG_TRACING_TEST
+#include "tracing_test.h"
+
+#else
+
+/**
+ * @brief Tracing APIs
+ * @defgroup tracing_apis Tracing APIs
+ * @{
+ */
+/**
+ * @brief Called before a thread has been selected to run
+ */
+#define sys_trace_thread_switched_out()
+
+/**
+ * @brief Called after a thread has been selected to run
+ */
+#define sys_trace_thread_switched_in()
+
+/**
+ * @brief Called when setting priority of a thread
+ */
+#define sys_trace_thread_priority_set(thread)
+
+/**
+ * @brief Called when a thread is being created
+ */
+#define sys_trace_thread_create(thread)
+
+/**
+ * @brief Called when a thread is being aborted
+ *
+ */
+#define sys_trace_thread_abort(thread)
+
+/**
+ * @brief Called when a thread is being suspended
+ * @param thread Thread structure
+ */
+#define sys_trace_thread_suspend(thread)
+
+/**
+ * @brief Called when a thread is being resumed from suspension
+ * @param thread Thread structure
+ */
+#define sys_trace_thread_resume(thread)
+
+/**
+ * @brief Called when a thread is ready to run
+ * @param thread Thread structure
+ */
+#define sys_trace_thread_ready(thread)
+
+/**
+ * @brief Called when a thread is pending
+ * @param thread Thread structure
+ */
+#define sys_trace_thread_pend(thread)
+
+/**
+ * @brief Provide information about specific thread
+ * @param thread Thread structure
+ */
+#define sys_trace_thread_info(thread)
+
+/**
+ * @brief Called when a thread name is set
+ * @param thread Thread structure
+ */
+#define sys_trace_thread_name_set(thread)
+
+/**
+ * @brief Called when entering an ISR
+ */
+#define sys_trace_isr_enter()
+
+/**
+ * @brief Called when exiting an ISR
+ */
+#define sys_trace_isr_exit()
+
+/**
+ * @brief Called when exiting an ISR and switching to scheduler
+ */
+#define sys_trace_isr_exit_to_scheduler()
+
+/**
+ * @brief Can be called with any id signifying a new call
+ * @param id ID of the operation that was started
+ */
+#define sys_trace_void(id)
+
+/**
+ * @brief Can be called with any id signifying ending a call
+ * @param id ID of the operation that was completed
+ */
+#define sys_trace_end_call(id)
+
+/**
+ * @brief Called when the cpu enters the idle state
+ */
+#define sys_trace_idle()
+
+/**
+ * @}
+ */
+
+#endif
+#endif
diff --git a/include/debug/tracing_format.h b/include/tracing/tracing_format.h
similarity index 94%
rename from include/debug/tracing_format.h
rename to include/tracing/tracing_format.h
index 48b0396e9e7..24acf8df6fd 100644
--- a/include/debug/tracing_format.h
+++ b/include/tracing/tracing_format.h
@@ -4,8 +4,8 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#ifndef ZEPHYR_INCLUDE_TRACE_FORMAT_H
-#define ZEPHYR_INCLUDE_TRACE_FORMAT_H
+#ifndef ZEPHYR_INCLUDE_TRACING_TRACING_FORMAT_H
+#define ZEPHYR_INCLUDE_TRACING_TRACING_FORMAT_H
 
 #include <toolchain/common.h>
 
diff --git a/kernel/include/ksched.h b/kernel/include/ksched.h
index 5d707056ccd..51509307092 100644
--- a/kernel/include/ksched.h
+++ b/kernel/include/ksched.h
@@ -10,7 +10,7 @@
 #include <kernel_structs.h>
 #include <kernel_internal.h>
 #include <timeout_q.h>
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 #include <stdbool.h>
 
 BUILD_ASSERT(K_LOWEST_APPLICATION_THREAD_PRIO
diff --git a/kernel/init.c b/kernel/init.c
index 85f7d86c623..aba8cb5c1e3 100644
--- a/kernel/init.c
+++ b/kernel/init.c
@@ -31,7 +31,7 @@
 #include <kswap.h>
 #include <drivers/entropy.h>
 #include <logging/log_ctrl.h>
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 #include <stdbool.h>
 #include <debug/gcov.h>
 
diff --git a/kernel/mutex.c b/kernel/mutex.c
index ecf9e135f66..fb40b87315b 100644
--- a/kernel/mutex.c
+++ b/kernel/mutex.c
@@ -37,7 +37,7 @@
 #include <errno.h>
 #include <init.h>
 #include <syscall_handler.h>
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 #include <sys/check.h>
 
 /* We use a global spinlock here because some of the synchronization
diff --git a/kernel/sem.c b/kernel/sem.c
index 9b0514358ab..db317c80a77 100644
--- a/kernel/sem.c
+++ b/kernel/sem.c
@@ -27,7 +27,7 @@
 #include <ksched.h>
 #include <init.h>
 #include <syscall_handler.h>
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 #include <sys/check.h>
 
 /* We use a system-wide lock to synchronize semaphores, which has
diff --git a/kernel/thread.c b/kernel/thread.c
index 54f932c7a91..43adff87c8d 100644
--- a/kernel/thread.c
+++ b/kernel/thread.c
@@ -23,7 +23,7 @@
 #include <kernel_internal.h>
 #include <kswap.h>
 #include <init.h>
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 #include <string.h>
 #include <stdbool.h>
 #include <irq_offload.h>
diff --git a/soc/riscv/riscv-privilege/common/idle.c b/soc/riscv/riscv-privilege/common/idle.c
index 3c7e4e291b8..cdb32436429 100644
--- a/soc/riscv/riscv-privilege/common/idle.c
+++ b/soc/riscv/riscv-privilege/common/idle.c
@@ -9,7 +9,7 @@
 #include <irq.h>
 #include <arch/cpu.h>
 
-#include <debug/tracing.h>
+#include <tracing/tracing.h>
 
 static ALWAYS_INLINE void riscv_idle(unsigned int key)
 {
diff --git a/subsys/tracing/ctf/ctf_top.h b/subsys/tracing/ctf/ctf_top.h
index d1abdef8948..39ed7b357e2 100644
--- a/subsys/tracing/ctf/ctf_top.h
+++ b/subsys/tracing/ctf/ctf_top.h
@@ -10,7 +10,7 @@
 #include <stddef.h>
 #include <string.h>
 #include <ctf_map.h>
-#include <debug/tracing_format.h>
+#include <tracing/tracing_format.h>
 
 /* Limit strings to 20 bytes to optimize bandwidth */
 #define CTF_MAX_STRING_LEN 20
diff --git a/subsys/tracing/include/tracing_format_common.h b/subsys/tracing/include/tracing_format_common.h
index e22b4a8d9d2..2451b6e569d 100644
--- a/subsys/tracing/include/tracing_format_common.h
+++ b/subsys/tracing/include/tracing_format_common.h
@@ -9,7 +9,7 @@
 
 #include <stdarg.h>
 #include <sys/printk.h>
-#include <debug/tracing_format.h>
+#include <tracing/tracing_format.h>
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/tests/subsys/debug/tracing/src/tracing_string_format_test.c b/tests/subsys/debug/tracing/src/tracing_string_format_test.c
index 5aeb3b116e6..ee0bdcaf163 100644
--- a/tests/subsys/debug/tracing/src/tracing_string_format_test.c
+++ b/tests/subsys/debug/tracing/src/tracing_string_format_test.c
@@ -6,7 +6,7 @@
 
 #include <zephyr.h>
 #include <tracing_test.h>
-#include <debug/tracing_format.h>
+#include <tracing/tracing_format.h>
 
 void sys_trace_thread_switched_out(void)
 {