diff --git a/CMakeLists.txt b/CMakeLists.txt
index 32add78b99b..5f8232804f7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,7 +55,15 @@ if(NOT CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
   set(gRPC_INSTALL_default OFF)
 endif()
 set(gRPC_INSTALL ${gRPC_INSTALL_default} CACHE BOOL
-    "Generate installation target: gRPC_ZLIB_PROVIDER, gRPC_CARES_PROVIDER, gRPC_SSL_PROVIDER and gRPC_PROTOBUF_PROVIDER must all be \"package\"")
+    "Generate installation target")
+
+# We can install dependencies from submodules if we're running
+# CMake v3.13 or newer.
+if(CMAKE_VERSION VERSION_LESS 3.13)
+  set(_gRPC_INSTALL_SUPPORTED_FROM_MODULE OFF)
+else()
+  set(_gRPC_INSTALL_SUPPORTED_FROM_MODULE ON)
+endif()
 
 # Providers for third-party dependencies (gRPC_*_PROVIDER properties):
 # "module": build the dependency using sources from git submodule (under third_party)
diff --git a/cmake/cares.cmake b/cmake/cares.cmake
index cf7d74cc0fc..05bb5441f03 100644
--- a/cmake/cares.cmake
+++ b/cmake/cares.cmake
@@ -26,10 +26,16 @@ if(gRPC_CARES_PROVIDER STREQUAL "module")
 
   if(TARGET c-ares)
     set(_gRPC_CARES_LIBRARIES c-ares)
+    if(gRPC_INSTALL AND _gRPC_INSTALL_SUPPORTED_FROM_MODULE)
+      install(TARGETS c-ares EXPORT gRPCTargets
+        RUNTIME DESTINATION ${gRPC_INSTALL_BINDIR}
+        LIBRARY DESTINATION ${gRPC_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${gRPC_INSTALL_LIBDIR})
+    endif()
   endif()
 
-  if(gRPC_INSTALL)
-    message(WARNING "gRPC_INSTALL will be forced to FALSE because gRPC_CARES_PROVIDER is \"module\"")
+  if(gRPC_INSTALL AND NOT _gRPC_INSTALL_SUPPORTED_FROM_MODULE)
+    message(WARNING "gRPC_INSTALL will be forced to FALSE because gRPC_CARES_PROVIDER is \"module\" and CMake version (${CMAKE_VERSION}) is less than 3.13.")
     set(gRPC_INSTALL FALSE)
   endif()
 elseif(gRPC_CARES_PROVIDER STREQUAL "package")
diff --git a/cmake/protobuf.cmake b/cmake/protobuf.cmake
index df88fddba8c..a37e0d5cbdf 100644
--- a/cmake/protobuf.cmake
+++ b/cmake/protobuf.cmake
@@ -46,8 +46,8 @@ if(gRPC_PROTOBUF_PROVIDER STREQUAL "module")
   else()
     message(WARNING "gRPC_PROTOBUF_PROVIDER is \"module\" but PROTOBUF_ROOT_DIR is wrong")
   endif()
-  if(gRPC_INSTALL)
-    message(WARNING "gRPC_INSTALL will be forced to FALSE because gRPC_PROTOBUF_PROVIDER is \"module\"")
+  if(gRPC_INSTALL AND NOT _gRPC_INSTALL_SUPPORTED_FROM_MODULE)
+    message(WARNING "gRPC_INSTALL will be forced to FALSE because gRPC_PROTOBUF_PROVIDER is \"module\" and CMake version (${CMAKE_VERSION}) is less than 3.13.")
     set(gRPC_INSTALL FALSE)
   endif()
 elseif(gRPC_PROTOBUF_PROVIDER STREQUAL "package")
diff --git a/cmake/ssl.cmake b/cmake/ssl.cmake
index 2c6a0adcd50..1389be32b64 100644
--- a/cmake/ssl.cmake
+++ b/cmake/ssl.cmake
@@ -33,12 +33,18 @@ if(gRPC_SSL_PROVIDER STREQUAL "module")
     if(TARGET ssl)
       set(_gRPC_SSL_LIBRARIES ssl)
       set(_gRPC_SSL_INCLUDE_DIR ${BORINGSSL_ROOT_DIR}/include)
+      if(gRPC_INSTALL AND _gRPC_INSTALL_SUPPORTED_FROM_MODULE)
+        install(TARGETS ssl crypto EXPORT gRPCTargets
+          RUNTIME DESTINATION ${gRPC_INSTALL_BINDIR}
+          LIBRARY DESTINATION ${gRPC_INSTALL_LIBDIR}
+          ARCHIVE DESTINATION ${gRPC_INSTALL_LIBDIR})
+      endif()
     endif()
   else()
     message(WARNING "gRPC_SSL_PROVIDER is \"module\" but BORINGSSL_ROOT_DIR is wrong")
   endif()
-  if(gRPC_INSTALL)
-    message(WARNING "gRPC_INSTALL will be forced to FALSE because gRPC_SSL_PROVIDER is \"module\"")
+  if(gRPC_INSTALL AND NOT _gRPC_INSTALL_SUPPORTED_FROM_MODULE)
+    message(WARNING "gRPC_INSTALL will be forced to FALSE because gRPC_SSL_PROVIDER is \"module\" and CMake version (${CMAKE_VERSION}) is less than 3.13.")
     set(gRPC_INSTALL FALSE)
   endif()
 elseif(gRPC_SSL_PROVIDER STREQUAL "package")
diff --git a/cmake/zlib.cmake b/cmake/zlib.cmake
index 858d3b42fee..9d658921d33 100644
--- a/cmake/zlib.cmake
+++ b/cmake/zlib.cmake
@@ -28,12 +28,18 @@ if(gRPC_ZLIB_PROVIDER STREQUAL "module")
     if(TARGET zlibstatic)
       set(_gRPC_ZLIB_LIBRARIES zlibstatic)
       set(_gRPC_ZLIB_INCLUDE_DIR "${ZLIB_ROOT_DIR}" "${CMAKE_CURRENT_BINARY_DIR}/third_party/zlib")
+      if(gRPC_INSTALL AND _gRPC_INSTALL_SUPPORTED_FROM_MODULE)
+        install(TARGETS zlibstatic EXPORT gRPCTargets
+          RUNTIME DESTINATION ${gRPC_INSTALL_BINDIR}
+          LIBRARY DESTINATION ${gRPC_INSTALL_LIBDIR}
+          ARCHIVE DESTINATION ${gRPC_INSTALL_LIBDIR})
+      endif()
     endif()
   else()
     message(WARNING "gRPC_ZLIB_PROVIDER is \"module\" but ZLIB_ROOT_DIR is wrong")
   endif()
-  if(gRPC_INSTALL)
-    message(WARNING "gRPC_INSTALL will be forced to FALSE because gRPC_ZLIB_PROVIDER is \"module\"")
+  if(gRPC_INSTALL AND NOT _gRPC_INSTALL_SUPPORTED_FROM_MODULE)
+    message(WARNING "gRPC_INSTALL will be forced to FALSE because gRPC_ZLIB_PROVIDER is \"module\"  and CMake version (${CMAKE_VERSION}) is less than 3.13.")
     set(gRPC_INSTALL FALSE)
   endif()
 elseif(gRPC_ZLIB_PROVIDER STREQUAL "package")
diff --git a/templates/CMakeLists.txt.template b/templates/CMakeLists.txt.template
index 4ef88f1dfba..a64102e062e 100644
--- a/templates/CMakeLists.txt.template
+++ b/templates/CMakeLists.txt.template
@@ -149,7 +149,15 @@
     set(gRPC_INSTALL_default OFF)
   endif()
   set(gRPC_INSTALL <%text>${gRPC_INSTALL_default}</%text> CACHE BOOL
-      "Generate installation target: gRPC_ZLIB_PROVIDER, gRPC_CARES_PROVIDER, gRPC_SSL_PROVIDER and gRPC_PROTOBUF_PROVIDER must all be \"package\"")
+      "Generate installation target")
+
+  # We can install dependencies from submodules if we're running
+  # CMake v3.13 or newer.
+  if(CMAKE_VERSION VERSION_LESS 3.13)
+    set(_gRPC_INSTALL_SUPPORTED_FROM_MODULE OFF)
+  else()
+    set(_gRPC_INSTALL_SUPPORTED_FROM_MODULE ON)
+  endif()
 
   # Providers for third-party dependencies (gRPC_*_PROVIDER properties):
   # "module": build the dependency using sources from git submodule (under third_party)