diff --git a/scripts/pylib/twister/twisterlib/environment.py b/scripts/pylib/twister/twisterlib/environment.py
index 1c6f4637cb2..62e549eb8d6 100644
--- a/scripts/pylib/twister/twisterlib/environment.py
+++ b/scripts/pylib/twister/twisterlib/environment.py
@@ -18,6 +18,7 @@ logger = logging.getLogger('twister')
 logger.setLevel(logging.DEBUG)
 
 from twisterlib.error import TwisterRuntimeError
+from twisterlib.log_helper import log_command
 
 ZEPHYR_BASE = os.getenv("ZEPHYR_BASE")
 if not ZEPHYR_BASE:
@@ -705,19 +706,20 @@ class TwisterEnv:
 
     @staticmethod
     def run_cmake_script(args=[]):
+        script = os.fspath(args[0])
 
-        logger.debug("Running cmake script %s" % (args[0]))
+        logger.debug("Running cmake script %s", script)
 
         cmake_args = ["-D{}".format(a.replace('"', '')) for a in args[1:]]
-        cmake_args.extend(['-P', args[0]])
+        cmake_args.extend(['-P', script])
 
-        logger.debug("Calling cmake with arguments: {}".format(cmake_args))
         cmake = shutil.which('cmake')
         if not cmake:
             msg = "Unable to find `cmake` in path"
             logger.error(msg)
             raise Exception(msg)
         cmd = [cmake] + cmake_args
+        log_command(logger, "Calling cmake", cmd)
 
         kwargs = dict()
         kwargs['stdout'] = subprocess.PIPE
diff --git a/scripts/pylib/twister/twisterlib/log_helper.py b/scripts/pylib/twister/twisterlib/log_helper.py
new file mode 100644
index 00000000000..3604f64ce1e
--- /dev/null
+++ b/scripts/pylib/twister/twisterlib/log_helper.py
@@ -0,0 +1,27 @@
+# Copyright (c) 2022 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+'''
+Common code used when logging that is needed by multiple modules.
+'''
+
+import platform
+import shlex
+
+_WINDOWS = (platform.system() == 'Windows')
+
+def log_command(logger, msg, args):
+    '''Platform-independent helper for logging subprocess invocations.
+    Will log a command string that can be copy/pasted into a POSIX
+    shell on POSIX platforms. This is not available on Windows, so
+    the entire args array is logged instead.
+
+    :param logger: logging.Logger to use
+    :param msg: message to associate with the command
+    :param args: argument list as passed to subprocess module
+    '''
+    msg = f'{msg}: %s'
+    if _WINDOWS:
+        logger.debug(msg, str(args))
+    else:
+        logger.debug(msg, shlex.join(args))
diff --git a/scripts/pylib/twister/twisterlib/runner.py b/scripts/pylib/twister/twisterlib/runner.py
index 7f9cb8e1540..9c23c9a3f9f 100644
--- a/scripts/pylib/twister/twisterlib/runner.py
+++ b/scripts/pylib/twister/twisterlib/runner.py
@@ -19,6 +19,7 @@ from multiprocessing import Lock, Process, Value
 from multiprocessing.managers import BaseManager
 from twisterlib.cmakecache import CMakeCache
 from twisterlib.environment import canonical_zephyr_base
+from twisterlib.log_helper import log_command
 
 logger = logging.getLogger('twister')
 logger.setLevel(logging.DEBUG)
@@ -262,12 +263,12 @@ class CMake:
         cmake_opts = ['-DBOARD={}'.format(self.platform.name)]
         cmake_args.extend(cmake_opts)
 
-
-        logger.debug("Calling cmake with arguments: {}".format(cmake_args))
         cmake = shutil.which('cmake')
         cmd = [cmake] + cmake_args
         kwargs = dict()
 
+        log_command(logger, "Calling cmake", cmd)
+
         if self.capture_output:
             kwargs['stdout'] = subprocess.PIPE
             # CMake sends the output of message() to stderr unless it's STATUS