diff --git a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F4/mbed_overrides.c b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F4/mbed_overrides.c
index 9783dd90a53..a21a749f800 100644
--- a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F4/mbed_overrides.c
+++ b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F4/mbed_overrides.c
@@ -26,6 +26,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 #include "cmsis.h"
+#include "us_ticker_api.h"
 
 // This function is called after RAM initialization and before main.
 void mbed_sdk_init()
@@ -35,3 +36,18 @@ void mbed_sdk_init()
     // Need to restart HAL driver after the RAM is initialized
     HAL_Init();
 }
+
+/**
+  * @brief This function provides accurate delay (in milliseconds) based
+  *        on variable incremented.
+  * @note This function is the modified version of the __weak version contained in
+  *       stm32f4xx_hal.c, using us_ticker
+  * @param Delay: specifies the delay time length, in milliseconds.
+  * @retval None
+  */
+void HAL_Delay(__IO uint32_t Delay)
+{
+    uint32_t start = us_ticker_read();
+    while ((us_ticker_read() - start) < (uint32_t)(Delay * 1000));
+}
+
diff --git a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F7/mbed_overrides.c b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F7/mbed_overrides.c
index c916c331d89..496c4adc66d 100644
--- a/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F7/mbed_overrides.c
+++ b/libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F7/mbed_overrides.c
@@ -26,6 +26,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 #include "cmsis.h"
+#include "us_ticker_api.h"
 
 HAL_StatusTypeDef HAL_Init(void);
 
@@ -37,3 +38,19 @@ void mbed_sdk_init()
     // Need to restart HAL driver after the RAM is initialized
     HAL_Init();
 }
+
+
+/**
+  * @brief This function provides accurate delay (in milliseconds) based
+  *        on variable incremented.
+  * @note This function is the modified version of the __weak version contained in
+  *       stm32f7xx_hal.c, using us_ticker
+  * @param Delay: specifies the delay time length, in milliseconds.
+  * @retval None
+*/
+void HAL_Delay(__IO uint32_t Delay)
+{
+    uint32_t start = us_ticker_read();
+    while ((us_ticker_read() - start) < (uint32_t)(Delay * 1000));
+}
+