diff --git a/src/lib/spinel/radio_spinel.cpp b/src/lib/spinel/radio_spinel.cpp
index 5244bcefc112..0ae89a237364 100644
--- a/src/lib/spinel/radio_spinel.cpp
+++ b/src/lib/spinel/radio_spinel.cpp
@@ -111,7 +111,8 @@ RadioSpinel::RadioSpinel(void)
     , mVendorRestorePropertiesCallback(nullptr)
     , mVendorRestorePropertiesContext(nullptr)
 #endif
-    , mEnableRcpTimeSync(false)
+    , mTimeSyncFeatureEnabled(false)
+    , mTimeSyncEnabled(false)
     , mSpinelDriver(nullptr)
 {
     memset(&mRadioSpinelMetrics, 0, sizeof(mRadioSpinelMetrics));
@@ -134,7 +135,7 @@ void RadioSpinel::Init(bool          aSkipRcpCompatibilityCheck,
     mResetRadioOnStartup = aSoftwareReset;
 #endif
 
-    mEnableRcpTimeSync = aEnableRcpTimeSync;
+    mTimeSyncFeatureEnabled = aEnableRcpTimeSync;
 
     mSpinelDriver = aSpinelDriver;
     mSpinelDriver->SetFrameHandler(&HandleReceivedFrame, &HandleSavedFrame, this);
@@ -798,7 +799,7 @@ void RadioSpinel::Process(const void *aContext)
     ProcessRadioStateMachine();
     RecoverFromRcpFailure();
 
-    if (mEnableRcpTimeSync)
+    if (mTimeSyncFeatureEnabled)
     {
         CalcRcpTimeOffset();
     }
@@ -1919,6 +1920,7 @@ void RadioSpinel::CalcRcpTimeOffset(void)
      *         D = T1' - ((T0 + T2)/ 2)
      */
 
+    EXPECT(mTimeSyncEnabled, NO_ACTION);
     EXPECT(!mIsTimeSynced || (otPlatTimeGet() >= GetNextRadioTimeRecalcStart()), NO_ACTION);
 
     LogDebg("Trying to get RCP time offset");
@@ -2231,7 +2233,7 @@ void RadioSpinel::RestoreProperties(void)
     }
 #endif
 
-    if (mEnableRcpTimeSync)
+    if (mTimeSyncFeatureEnabled)
     {
         CalcRcpTimeOffset();
     }
diff --git a/src/lib/spinel/radio_spinel.hpp b/src/lib/spinel/radio_spinel.hpp
index 0eb49108b900..cc1fb1eed812 100644
--- a/src/lib/spinel/radio_spinel.hpp
+++ b/src/lib/spinel/radio_spinel.hpp
@@ -1106,6 +1106,14 @@ class RadioSpinel : private Logger
     void SetVendorRestorePropertiesCallback(otRadioSpinelVendorRestorePropertiesCallback aCallback, void *aContext);
 #endif // OPENTHREAD_SPINEL_CONFIG_VENDOR_HOOK_ENABLE
 
+    /**
+     * Enables or disables the time synchronization between the host and RCP.
+     *
+     * @param[in]  aEnabled  TRUE to enable time synchronization, FALSE otherwise.
+     *
+     */
+    void SetTimeSyncEnabled(bool aEnabled) { mTimeSyncEnabled = aEnabled; }
+
 private:
     enum
     {
@@ -1342,7 +1350,8 @@ class RadioSpinel : private Logger
     void                                        *mVendorRestorePropertiesContext;
 #endif
 
-    bool mEnableRcpTimeSync;
+    bool mTimeSyncFeatureEnabled : 1;
+    bool mTimeSyncEnabled : 1;
 
     SpinelDriver *mSpinelDriver;
 };
diff --git a/src/posix/platform/openthread-core-posix-config.h b/src/posix/platform/openthread-core-posix-config.h
index ebe784f45636..a837ddc960ef 100644
--- a/src/posix/platform/openthread-core-posix-config.h
+++ b/src/posix/platform/openthread-core-posix-config.h
@@ -156,4 +156,11 @@
 #define OPENTHREAD_CONFIG_PLATFORM_POWER_CALIBRATION_ENABLE 1
 #endif
 
+#ifndef OPENTHREAD_CONFIG_MAX_STATECHANGE_HANDLERS
+/**
+ * The `system.cpp` has registered a state-changed callback handler. Another state-changed callback handler
+ * is reserved for application use.
+ */
+#define OPENTHREAD_CONFIG_MAX_STATECHANGE_HANDLERS 2
+#endif
 #endif // OPENTHREAD_CORE_POSIX_CONFIG_H_
diff --git a/src/posix/platform/platform-posix.h b/src/posix/platform/platform-posix.h
index ca897973bb35..822f3f48a3e9 100644
--- a/src/posix/platform/platform-posix.h
+++ b/src/posix/platform/platform-posix.h
@@ -165,6 +165,15 @@ void platformRadioInit(const char *aUrl);
  */
 void platformRadioDeinit(void);
 
+/**
+ * Handles the state change events for the radio driver.
+ *
+ * @param[in] aInstance  A pointer to the OpenThread instance.
+ * @param[in] aFlags     Flags that denote the state change events.
+ *
+ */
+void platformRadioHandleStateChange(otInstance *aInstance, otChangedFlags aFlags);
+
 /**
  * Inputs a received radio frame.
  *
diff --git a/src/posix/platform/radio.cpp b/src/posix/platform/radio.cpp
index 46c3040b2fcf..218bea06991c 100644
--- a/src/posix/platform/radio.cpp
+++ b/src/posix/platform/radio.cpp
@@ -216,6 +216,14 @@ ot::Posix::RcpCapsDiag &GetRcpCapsDiag(void) { return sRadio.GetRcpCapsDiag(); }
 
 void platformRadioDeinit(void) { GetRadioSpinel().Deinit(); }
 
+void platformRadioHandleStateChange(otInstance *aInstance, otChangedFlags aFlags)
+{
+    if (OT_CHANGED_THREAD_NETIF_STATE & aFlags)
+    {
+        GetRadioSpinel().SetTimeSyncEnabled(otIp6IsEnabled(aInstance));
+    }
+}
+
 void otPlatRadioGetIeeeEui64(otInstance *aInstance, uint8_t *aIeeeEui64)
 {
     OT_UNUSED_VARIABLE(aInstance);
diff --git a/src/posix/platform/system.cpp b/src/posix/platform/system.cpp
index 89da6af132de..5f3640a56509 100644
--- a/src/posix/platform/system.cpp
+++ b/src/posix/platform/system.cpp
@@ -65,7 +65,6 @@ bool        gDryRun   = false;
 
 CoprocessorType sCoprocessorType = OT_COPROCESSOR_UNKNOWN;
 
-#if OPENTHREAD_CONFIG_PLATFORM_NETIF_ENABLE || OPENTHREAD_CONFIG_BACKBONE_ROUTER_ENABLE
 static void processStateChange(otChangedFlags aFlags, void *aContext)
 {
     otInstance *instance = static_cast<otInstance *>(aContext);
@@ -80,8 +79,9 @@ static void processStateChange(otChangedFlags aFlags, void *aContext)
 #if OPENTHREAD_CONFIG_BACKBONE_ROUTER_ENABLE
     ot::Posix::InfraNetif::Get().HandleBackboneStateChange(instance, aFlags);
 #endif
+
+    platformRadioHandleStateChange(instance, aFlags);
 }
-#endif
 
 static const char *get802154RadioUrl(const otPlatformCoprocessorUrls &aUrls)
 {
@@ -245,9 +245,7 @@ void platformSetUp(otPlatformConfig *aPlatformConfig)
     ot::Posix::Daemon::Get().SetUp();
 #endif
 
-#if OPENTHREAD_CONFIG_PLATFORM_NETIF_ENABLE || OPENTHREAD_CONFIG_BACKBONE_ROUTER_ENABLE
     SuccessOrDie(otSetStateChangedCallback(gInstance, processStateChange, gInstance));
-#endif
 
 exit:
     return;