Aberdeen Airport and Sumburgh Airport on Shetland received a "good" ranking. The report reveals that the majority of United Kingdom airports are providing "very good" or "good" support.
Manchester, East Midlands and Exeter were the other airports where attention to accessibility was found to be lacking.
The CAA says its framework, the first of its kind in Europe, was introduced to ensure there is a consistent and high-quality service for disabled passengers across United Kingdom airports.
The CAA in its second disability report said 3 million passengers with disabilities asked for extra help at airports in 2016, a rise of 300,000 compared with 2015.
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It added: "We will now be looking to the airport to keep this focus and ensure that current standards are maintained".
A total of 1,413,272 passengers passed through Edinburgh Airport, the highest footfall ever for any Scottish terminal and a 6.1% increase on the 1,332,282 who travelled using the hub in the previous July.
A spokeswoman for OmniServ said the company is "investing significant sums in staff training" and will "continue evaluating our performance.to provide the best service to all of Heathrow's passengers".
Transport secretary Chris Grayling, said: 'It is encouraging to see the overwhelming majority of United Kingdom airports providing a good service for passengers with a disability, but I am determined to push the aviation industry to do more. "Unfortunately, substantive issues still exist with the quality of the assistance service provided at Heathrow", said the report.
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Inverness Airport customer focus manager Callum Smith said: "In the past year we have made service improvements by installing additional call points within the auto park, taxi rank and bus stop".
Sumburgh also welcomed its "good" rating, adding that it was already "taking further steps to improve accessibility by improving our waiting area and changing over signs for our disabled toilets".
Heathrow Airport had its best month ever in July, as the summer getaway sent passenger numbers soaring.
Domestic plane passengers increased 6.3% year on year while global traffic rose 1.2% in the same period.
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Trade through the airport enjoyed a record surge as well, rising 15% to 143,000 tonnes.