diff --git a/azure-pipelines.yml b/azure-pipelines.yml
index 78aca022..c0510216 100644
--- a/azure-pipelines.yml
+++ b/azure-pipelines.yml
@@ -91,7 +91,8 @@ jobs:
   - bash: |
       # Build CoreMark without performance counter dump for co-simulation testing
       make -C ./examples/sw/benchmarks/coremark SUPPRESS_PCOUNT_DUMP=1
-    displayName: Build CoreMark
+      make -C ./examples/sw/simple_system/pmp_smoke_test
+    displayName: Build tests for verilator co-simulation
 
   # Run Ibex RTL CI per supported configuration
   - template : ci/ibex-rtl-ci-steps.yml
diff --git a/ci/ibex-rtl-ci-steps.yml b/ci/ibex-rtl-ci-steps.yml
index bbcc6ca7..ede6b629 100644
--- a/ci/ibex-rtl-ci-steps.yml
+++ b/ci/ibex-rtl-ci-steps.yml
@@ -76,10 +76,27 @@ steps:
           exit 1
         fi
 
+        echo "Running CoreMark"
+
         build/lowrisc_ibex_ibex_simple_system_cosim_0/sim-verilator/Vibex_simple_system --meminit=ram,examples/sw/benchmarks/coremark/coremark.elf
         if [ $? != 0 ]; then
           echo -n "##vso[task.logissue type=error]"
           echo "Running CoreMark failed co-simulation testing"
           exit 1
         fi
-      displayName: Run CoreMark for ${{ config }}
+
+        echo "CoreMark succeeded"
+
+        # Run pmp_exception_test if the config supports PMP
+        if ./util/ibex_config.py ${{ config }} query_fields PMPEnable | grep -q 'PMPEnable=1'; then
+          echo "Running pmp_exception_test"
+          build/lowrisc_ibex_ibex_simple_system_cosim_0/sim-verilator/Vibex_simple_system --meminit=ram,examples/sw/simple_system/pmp_exception_test/pmp_exception_test.elf
+          if [ $? != 0 ]; then
+            echo -n "##vso[task.logissue type=error]"
+            echo "Running pmp_exception_test failed co-simulation testing"
+            exit 1
+          fi
+        else
+          echo "PMP not supported on ${{ config }}, skipping pmp_exception_test"
+        fi
+      displayName: Run Verilator co-sim tests for for ${{ config }}