diff --git a/src/lib/spinel/spinel.h b/src/lib/spinel/spinel.h
index 310903c2d6e..f38958c7d2b 100644
--- a/src/lib/spinel/spinel.h
+++ b/src/lib/spinel/spinel.h
@@ -4753,6 +4753,16 @@ enum
      */
     SPINEL_PROP_INFRA_IF_STATE = SPINEL_PROP_INFRA_IF__BEGIN + 1,
 
+    /// Received ICMPv6 packet on the infrastructure interface.
+    /** Format: `L6d`
+     * Type: Write-only
+     *
+     * `L`: The infrastructure interface index.
+     * `6`: The IP6 source address of the ICMPv6 packet.
+     * `d`: The data of the ICMPv6 packet. The host MUST ensure the hoplimit is 255.
+     */
+    SPINEL_PROP_INFRA_IF_RECV_ICMP6 = SPINEL_PROP_INFRA_IF__BEGIN + 2,
+
     SPINEL_PROP_INFRA_IF__END = 0x920,
 
     SPINEL_PROP_NEST__BEGIN = 0x3BC0,
diff --git a/src/ncp/ncp_base.hpp b/src/ncp/ncp_base.hpp
index 73ce071498e..53ce9736fe5 100644
--- a/src/ncp/ncp_base.hpp
+++ b/src/ncp/ncp_base.hpp
@@ -739,7 +739,7 @@ class NcpBase
 
     uint64_t mLogTimestampBase; // Timestamp base used for logging
 
-#if OPENTHREAD_FTD && OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE
+#if OPENTHREAD_FTD && OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE && OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
     otError InfraIfAddAddress(const otIp6Address &aAddress);
     bool    InfraIfContainsAddress(const otIp6Address &aAddress);
 
diff --git a/src/ncp/ncp_base_dispatcher.cpp b/src/ncp/ncp_base_dispatcher.cpp
index 9fae8d1f7df..f6567e17a5e 100644
--- a/src/ncp/ncp_base_dispatcher.cpp
+++ b/src/ncp/ncp_base_dispatcher.cpp
@@ -515,8 +515,9 @@ NcpBase::PropertyHandler NcpBase::FindSetPropertyHandler(spinel_prop_key_t aKey)
 #if OPENTHREAD_RADIO && OPENTHREAD_CONFIG_MULTIPAN_RCP_ENABLE
         OT_NCP_SET_HANDLER_ENTRY(SPINEL_PROP_MULTIPAN_ACTIVE_INTERFACE),
 #endif
-#if OPENTHREAD_FTD && OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE
+#if OPENTHREAD_FTD && OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE && OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
         OT_NCP_SET_HANDLER_ENTRY(SPINEL_PROP_INFRA_IF_STATE),
+        OT_NCP_SET_HANDLER_ENTRY(SPINEL_PROP_INFRA_IF_RECV_ICMP6),
 #endif
 #if OPENTHREAD_MTD || OPENTHREAD_FTD
         OT_NCP_SET_HANDLER_ENTRY(SPINEL_PROP_UNSOL_UPDATE_FILTER),
diff --git a/src/ncp/ncp_base_ftd.cpp b/src/ncp/ncp_base_ftd.cpp
index b7fb9edce2f..6fa7a13c8ac 100644
--- a/src/ncp/ncp_base_ftd.cpp
+++ b/src/ncp/ncp_base_ftd.cpp
@@ -1403,7 +1403,7 @@ template <> otError NcpBase::HandlePropertySet<SPINEL_PROP_TIME_SYNC_XTAL_THRESH
 }
 #endif // OPENTHREAD_CONFIG_TIME_SYNC_ENABLE
 
-#if OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE
+#if OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE && OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
 template <> otError NcpBase::HandlePropertySet<SPINEL_PROP_INFRA_IF_STATE>(void)
 {
     otError  error = OT_ERROR_NONE;
@@ -1438,6 +1438,26 @@ template <> otError NcpBase::HandlePropertySet<SPINEL_PROP_INFRA_IF_STATE>(void)
     return error;
 }
 
+template <> otError NcpBase::HandlePropertySet<SPINEL_PROP_INFRA_IF_RECV_ICMP6>(void)
+{
+    otError             error = OT_ERROR_NONE;
+    uint32_t            infraIfIndex;
+    const otIp6Address *address;
+    const uint8_t      *icmp6Data = nullptr;
+    uint16_t            len;
+
+    SuccessOrExit(error = mDecoder.ReadUint32(infraIfIndex));
+    VerifyOrExit(mInfraIfIndex == infraIfIndex, error = OT_ERROR_DROP);
+    SuccessOrExit(error = mDecoder.ReadIp6Address(address));
+    SuccessOrExit(error = mDecoder.ReadData(icmp6Data, len));
+
+    // Currently the ICMP6 messages can only be ND messages.
+    otPlatInfraIfRecvIcmp6Nd(mInstance, infraIfIndex, address, icmp6Data, len);
+
+exit:
+    return error;
+}
+
 otError NcpBase::InfraIfAddAddress(const otIp6Address &aAddress)
 {
     otError error = OT_ERROR_NONE;
@@ -1468,7 +1488,7 @@ bool NcpBase::InfraIfHasAddress(uint32_t aInfraIfIndex, const otIp6Address *aAdd
     return aInfraIfIndex == mInfraIfIndex && InfraIfContainsAddress(*aAddress);
 }
 
-#endif // OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE
+#endif // OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE && OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
 
 } // namespace Ncp
 } // namespace ot
diff --git a/src/ncp/platform/infra_if.cpp b/src/ncp/platform/infra_if.cpp
index bc9048646e2..b6e70e78674 100644
--- a/src/ncp/platform/infra_if.cpp
+++ b/src/ncp/platform/infra_if.cpp
@@ -30,7 +30,7 @@
 
 #include "ncp/ncp_base.hpp"
 
-#if OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE
+#if OPENTHREAD_FTD && OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE && OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
 bool otPlatInfraIfHasAddress(uint32_t aInfraIfIndex, const otIp6Address *aAddress)
 {
     return ot::Ncp::NcpBase::GetNcpInstance()->InfraIfHasAddress(aInfraIfIndex, aAddress);
@@ -56,4 +56,4 @@ otError otPlatInfraIfDiscoverNat64Prefix(uint32_t aInfraIfIndex)
     return OT_ERROR_NOT_IMPLEMENTED;
 }
 
-#endif // OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE
+#endif // OPENTHREAD_FTD && OPENTHREAD_CONFIG_NCP_INFRA_IF_ENABLE && OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE