diff --git a/tools/cmake/project.cmake b/tools/cmake/project.cmake
index a051cb6629..0978d3930d 100644
--- a/tools/cmake/project.cmake
+++ b/tools/cmake/project.cmake
@@ -344,6 +344,12 @@ macro(project project_name)
     # Generate compile_commands.json (needs to come after project call).
     set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
+    # If CMAKE_COLOR_DIAGNOSTICS not set in project CMakeLists.txt or in the environment,
+    # enable it by default.
+    if(NOT DEFINED CMAKE_COLOR_DIAGNOSTICS AND NOT DEFINED ENV{CMAKE_COLOR_DIAGNOSTICS})
+        set(CMAKE_COLOR_DIAGNOSTICS ON)
+    endif()
+
     # Since components can import third-party libraries, the original definition of project() should be restored
     # before the call to add components to the build.
     function(project)