diff --git a/.azure-pipelines/linux.yml b/.azure-pipelines/linux.yml
index 842e1c992e74..f3337072613e 100644
--- a/.azure-pipelines/linux.yml
+++ b/.azure-pipelines/linux.yml
@@ -10,6 +10,8 @@ jobs:
         CI_TARGET: 'bazel.gcc'
       compile_time_options:
         CI_TARGET: 'bazel.compile_time_options'
+      fuzz:
+        CI_TARGET: 'bazel.fuzz'
   dependsOn: [] # this removes the implicit dependency on previous stage and causes this to run in parallel.
   timeoutInMinutes: 360
   pool:
diff --git a/.bazelrc b/.bazelrc
index a74e3e350c02..01d32bdd3fd3 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -145,4 +145,6 @@ build:remote-ci --remote_executor=grpcs://remotebuildexecution.googleapis.com
 build:asan-fuzzer --config=asan
 build:asan-fuzzer --define=FUZZING_ENGINE=libfuzzer
 build:asan-fuzzer --copt=-DFUZZING_BUILD_MODE_UNSAFE_FOR_PRODUCTION
-build:asan-fuzzer --copt=-fsanitize-coverage=trace-pc-guard
\ No newline at end of file
+build:asan-fuzzer --copt=-fsanitize-coverage=trace-pc-guard
+# Remove UBSAN halt_on_error to avoid crashing on protobuf errors.
+build:asan-fuzzer --test_env=UBSAN_OPTIONS=print_stacktrace=1
\ No newline at end of file
diff --git a/bazel/envoy_test.bzl b/bazel/envoy_test.bzl
index 91d65b8803e5..4e7e91e0070b 100644
--- a/bazel/envoy_test.bzl
+++ b/bazel/envoy_test.bzl
@@ -115,7 +115,7 @@ def envoy_cc_fuzz_test(name, corpus, deps = [], tags = [], **kwargs):
         tags = ["manual"] + tags,
     )
 
-    native.cc_binary(
+    native.cc_test(
         name = name + "_with_libfuzzer",
         copts = envoy_copts("@envoy", test = True),
         linkopts = ["-fsanitize=fuzzer"] + _envoy_test_linkopts(),
@@ -123,7 +123,7 @@ def envoy_cc_fuzz_test(name, corpus, deps = [], tags = [], **kwargs):
         testonly = 1,
         data = [corpus_name],
         deps = [":" + test_lib_name],
-        tags = ["manual"] + tags,
+        tags = ["manual", "fuzzer"] + tags,
     )
 
 # Envoy C++ test targets should be specified with this function.
diff --git a/ci/README.md b/ci/README.md
index 1f3c4301fb30..04864d581498 100644
--- a/ci/README.md
+++ b/ci/README.md
@@ -98,6 +98,8 @@ The `./ci/run_envoy_docker.sh './ci/do_ci.sh <TARGET>'` targets are:
 * `bazel.coverity` &mdash; build Envoy static binary and run Coverity Scan static analysis.
 * `bazel.tsan` &mdash; build and run tests under `-c dbg --config=clang-tsan` with clang.
 * `bazel.tsan <test>` &mdash; build and run a specified test or test dir under `-c dbg --config=clang-tsan` with clang.
+* `bazel.fuzz` &mdash; build and run fuzz tests under `-c dbg --config=asan-fuzzer` with clang.
+* `bazel.fuzz <test>` &mdash; build and run a specified fuzz test or test dir under `-c dbg --config=asan-fuzzer` with clang. If specifying a single fuzz test, must use the full target name with "_with_libfuzzer" for `<test>`.
 * `bazel.compile_time_options` &mdash; build Envoy and run tests with various compile-time options toggled to their non-default state, to ensure they still build.
 * `bazel.compile_time_options <test>` &mdash; build Envoy and run a specified test or test dir with various compile-time options toggled to their non-default state, to ensure they still build.
 * `bazel.clang_tidy` &mdash; build and run clang-tidy over all source files.
diff --git a/ci/do_ci.sh b/ci/do_ci.sh
index db8bc0bdbd24..f94d96fc8cdd 100755
--- a/ci/do_ci.sh
+++ b/ci/do_ci.sh
@@ -253,6 +253,13 @@ elif [[ "$CI_TARGET" == "bazel.coverity" ]]; then
      "${ENVOY_BUILD_DIR}"/envoy-coverity-output.tgz \
      "${ENVOY_DELIVERY_DIR}"/envoy-coverity-output.tgz
   exit 0
+elif [[ "$CI_TARGET" == "bazel.fuzz" ]]; then
+  setup_clang_toolchain
+  FUZZ_TEST_TARGETS="$(bazel query "attr('tags','fuzzer',${TEST_TARGETS})")"
+  echo "bazel ASAN libFuzzer build with fuzz tests ${FUZZ_TEST_TARGETS}"
+  echo "Building envoy fuzzers and executing 100 fuzz iterations..."
+  bazel_with_collection test ${BAZEL_BUILD_OPTIONS} --config=asan-fuzzer ${FUZZ_TEST_TARGETS} --test_arg="-runs=10"
+  exit 0
 elif [[ "$CI_TARGET" == "fix_format" ]]; then
   echo "fix_format..."
   ./tools/check_format.py fix