List files recursively in Linux CLI with path relative to the current directory

This is similar to this question, but I want to include the path relative to the current directory in unix. If I do the following:

ls -LR | grep .txt

It doesn’t include the full paths. For example, I have the following directory structure:

test1/file.txt
test2/file1.txt
test2/file2.txt

The code above will return:

file.txt
file1.txt
file2.txt

How can I get it to include the paths relative to the current directory using standard Unix commands?