diff --git a/components/openthread/Kconfig b/components/openthread/Kconfig
index 573825c061..fa1cf9a918 100644
--- a/components/openthread/Kconfig
+++ b/components/openthread/Kconfig
@@ -44,6 +44,13 @@ menu "OpenThread"
             default y
             help
                 Select this option to enable Command-Line Interface in OpenThread.
+
+        config OPENTHREAD_CONSOLE_COMMAND_PREFIX
+            string "The prefix of the openthread CLI command registered on the esp console"
+            default "ot"
+            help
+                A prefix string used before a Thread CLI command, allowing the ESP console to identify
+                it and delegate the remaining command to the OpenThread callback for processing.
     endmenu
 
     menu "Thread Core Features"
@@ -130,6 +137,14 @@ menu "OpenThread"
                 default 12390
                 help
                     Configure the port number of TREL service.
+
+            config OPENTHREAD_TREL_BUFFER_SIZE
+                int "The receive buffer size of openthread trel"
+                depends on OPENTHREAD_RADIO_TREL
+                range 10 255
+                default 50
+                help
+                    Configure the receive buffer size of TREL service.
         endmenu
 
         menu "Thread 15.4 Radio Link"
diff --git a/components/openthread/include/esp_openthread_border_router.h b/components/openthread/include/esp_openthread_border_router.h
index 6fe915bc53..e78c28bddd 100644
--- a/components/openthread/include/esp_openthread_border_router.h
+++ b/components/openthread/include/esp_openthread_border_router.h
@@ -76,6 +76,14 @@ esp_netif_t *esp_openthread_get_backbone_netif(void);
  */
 esp_err_t esp_openthread_set_meshcop_instance_name(const char *instance_name);
 
+/**
+ * @brief   Gets the meshcop(e) instance name.
+ *
+ * @return      The instance name.
+ *
+ */
+const char* esp_openthread_get_meshcop_instance_name(void);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/openthread/include/esp_openthread_cli.h b/components/openthread/include/esp_openthread_cli.h
index 554d0c755c..0bc7741a9c 100644
--- a/components/openthread/include/esp_openthread_cli.h
+++ b/components/openthread/include/esp_openthread_cli.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -13,6 +13,14 @@ extern "C" {
 /**
  * @brief This function initializes the OpenThread command line interface(CLI).
  *
+ * @note There are two ways to initialize the OpenThread CLI:
+ *       1. By creating a dedicated task via `esp_openthread_cli_create_task`
+ *
+ *       2. By registering a console command with the ESP console via
+ *          `esp_openthread_cli_console_command_register`
+ *          If using this approach, the user must initialize the interface used
+ *          by the console and also initialize esp_console manually. Additionally,
+ *          the `host_connection_mode` should be set to `HOST_CONNECTION_MODE_NONE`.
  */
 void esp_openthread_cli_init(void);
 
@@ -34,11 +42,27 @@ esp_err_t esp_openthread_cli_input(const char *line);
 /**
  * @brief This function launches an exclusive loop for the OpenThread CLI.
  *
- * @param[in] priority  The priority of the created task.
- *
  */
 void esp_openthread_cli_create_task(void);
 
+/**
+ * @brief This function registers an ESP Console command for the OpenThread CLI.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_NO_MEM if allocation has failed
+ */
+esp_err_t esp_openthread_cli_console_command_register(void);
+
+/**
+ * @brief This function deregisters the ESP Console command for the OpenThread CLI.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_INVALID_ARG if command is not registered
+ */
+esp_err_t esp_openthread_cli_console_command_unregister(void);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/openthread/include/esp_openthread_meshcop_mdns.h b/components/openthread/include/esp_openthread_meshcop_mdns.h
new file mode 100644
index 0000000000..4e2c5926fa
--- /dev/null
+++ b/components/openthread/include/esp_openthread_meshcop_mdns.h
@@ -0,0 +1,41 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "esp_openthread.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Publishes the OpenThread meshcop service in mDNS
+ *
+ * @param[in] instance_name Instance name of meshcop mDNS service
+ *
+ * @return
+ *      - ESP_OK success
+ *      - ESP_ERR_NO_MEM memory error
+ *      - ESP_FAIL failed to add service
+ *
+ */
+esp_err_t esp_openthread_publish_meshcop_mdns(const char *instance_name);
+
+/**
+ * @brief   Removes the OpenThread meshcop service in mDNS
+ *
+ * @return
+ *      - ESP_OK success
+ *      - ESP_ERR_NO_MEM memory error
+ *      - ESP_FAIL failed to remove service
+ *
+ */
+esp_err_t esp_openthread_remove_meshcop_mdns(void);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/openthread/lib b/components/openthread/lib
index d4d4738d0d..24a1ecd851 160000
--- a/components/openthread/lib
+++ b/components/openthread/lib
@@ -1 +1 @@
-Subproject commit d4d4738d0d757dbcead167179ecf829a8c1d477b
+Subproject commit 24a1ecd851c188aa9bc23578a0a39d20c77fba7f
diff --git a/components/openthread/openthread b/components/openthread/openthread
index ec2b0d4873..b945928d72 160000
--- a/components/openthread/openthread
+++ b/components/openthread/openthread
@@ -1 +1 @@
-Subproject commit ec2b0d487356d2955346457a6515201039140037
+Subproject commit b945928d722177cd9caeab2e1025499628c101ef
diff --git a/components/openthread/private_include/esp_openthread_common.h b/components/openthread/private_include/esp_openthread_common.h
new file mode 100644
index 0000000000..321b3c8e07
--- /dev/null
+++ b/components/openthread/private_include/esp_openthread_common.h
@@ -0,0 +1,15 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdatomic.h>
+
+typedef struct {
+    uint8_t head;
+    uint8_t tail;
+    atomic_uint_fast8_t used;
+} esp_openthread_circular_queue_info_t;
diff --git a/components/openthread/private_include/esp_openthread_radio.h b/components/openthread/private_include/esp_openthread_radio.h
index 4b9aa4555f..ae7550471b 100644
--- a/components/openthread/private_include/esp_openthread_radio.h
+++ b/components/openthread/private_include/esp_openthread_radio.h
@@ -84,6 +84,27 @@ void esp_openthread_set_coex_config(esp_ieee802154_coex_config_t config);
  *
  */
 esp_ieee802154_coex_config_t esp_openthread_get_coex_config(void);
+
+/**
+ * @brief This function updates the TREL fds and timeouts to the main loop.
+ *
+ * @param[inout]    mainloop    The main loop context.
+ *
+ */
+void esp_openthread_trel_update(esp_openthread_mainloop_context_t *mainloop);
+
+/**
+ * @brief This function performs the OpenThread TREL process.
+ *
+ * @param[in]    instance   The OpenThread instance.
+ * @param[in]    mainloop   The main loop context.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_FAIL on failure
+ *
+ */
+esp_err_t esp_openthread_trel_process(otInstance *aInstance, const esp_openthread_mainloop_context_t *mainloop);
 #endif
 
 #ifdef __cplusplus
diff --git a/components/openthread/private_include/esp_openthread_state.h b/components/openthread/private_include/esp_openthread_state.h
index e2ee350805..91d69c4283 100644
--- a/components/openthread/private_include/esp_openthread_state.h
+++ b/components/openthread/private_include/esp_openthread_state.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -10,6 +10,11 @@
 #include <esp_openthread.h>
 #include <esp_openthread_types.h>
 
+#define ESP_OPENTHREAD_BORDER_ROUTER_FLAG_OF_INTEREST                                                       \
+    (OT_CHANGED_THREAD_ROLE | OT_CHANGED_THREAD_EXT_PANID | OT_CHANGED_THREAD_NETWORK_NAME |                \
+     OT_CHANGED_ACTIVE_DATASET | OT_CHANGED_THREAD_PARTITION_ID | OT_CHANGED_THREAD_BACKBONE_ROUTER_STATE | \
+     OT_CHANGED_PSKC)
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/components/openthread/sbom_openthread.yml b/components/openthread/sbom_openthread.yml
index 789349f827..51447eac61 100644
--- a/components/openthread/sbom_openthread.yml
+++ b/components/openthread/sbom_openthread.yml
@@ -5,4 +5,4 @@ supplier: 'Organization: Espressif Systems (Shanghai) CO LTD'
 originator: 'Organization: Google LLC'
 description: OpenThread released by Google is an open-source implementation of the Thread networking
 url: https://github.com/espressif/openthread
-hash: ec2b0d487356d2955346457a6515201039140037
+hash: b945928d722177cd9caeab2e1025499628c101ef
diff --git a/components/openthread/src/esp_openthread_cli.c b/components/openthread/src/esp_openthread_cli.c
index b2a76a4df0..b7e1b933f9 100644
--- a/components/openthread/src/esp_openthread_cli.c
+++ b/components/openthread/src/esp_openthread_cli.c
@@ -1,14 +1,13 @@
 /*
- * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include "esp_openthread_cli.h"
 
 #include <stdio.h>
 #include <string.h>
-
+#include "sdkconfig.h"
 #include "openthread/cli.h"
 
 #include "esp_check.h"
@@ -16,6 +15,7 @@
 #include "esp_log.h"
 #include "esp_openthread.h"
 #include "esp_openthread_common_macro.h"
+#include "esp_openthread_cli.h"
 #include "esp_openthread_task_queue.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
@@ -63,6 +63,40 @@ esp_err_t esp_openthread_cli_input(const char *line)
     return esp_openthread_task_queue_post(line_handle_task, line_copy);
 }
 
+static int ot_cli_console_callback(int argc, char **argv)
+{
+    char cli_cmd[OT_CLI_MAX_LINE_LENGTH] = {0};
+    strncpy(cli_cmd, argv[1], sizeof(cli_cmd) - strlen(cli_cmd) - 1);
+    for (int i = 2; i < argc; i++) {
+        strncat(cli_cmd, " ", sizeof(cli_cmd) - strlen(cli_cmd) - 1);
+        strncat(cli_cmd, argv[i], sizeof(cli_cmd) - strlen(cli_cmd) - 1);
+    }
+    s_cli_task = xTaskGetCurrentTaskHandle();
+    if (esp_openthread_cli_input(cli_cmd) == ESP_OK) {
+        xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
+    } else {
+        printf("Openthread task is busy, failed to run command: %s\n", cli_cmd);
+    }
+    s_cli_task = NULL;
+    return 0;
+}
+
+esp_err_t esp_openthread_cli_console_command_register(void)
+{
+    esp_console_cmd_t cmd = {
+        .command = CONFIG_OPENTHREAD_CONSOLE_COMMAND_PREFIX,
+        .help = "Execute `"CONFIG_OPENTHREAD_CONSOLE_COMMAND_PREFIX" ...` to run openthread cli",
+        .hint = NULL,
+        .func = ot_cli_console_callback,
+    };
+    return esp_console_cmd_register(&cmd);
+}
+
+esp_err_t esp_openthread_cli_console_command_unregister(void)
+{
+    return esp_console_cmd_deregister(CONFIG_OPENTHREAD_CONSOLE_COMMAND_PREFIX);
+}
+
 static void ot_cli_loop(void *context)
 {
     int ret = 0;
diff --git a/components/openthread/src/port/esp_openthread_radio.c b/components/openthread/src/port/esp_openthread_radio.c
index 28062b4afd..cc9a4a280b 100644
--- a/components/openthread/src/port/esp_openthread_radio.c
+++ b/components/openthread/src/port/esp_openthread_radio.c
@@ -4,7 +4,6 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include <stdatomic.h>
 #include "esp_openthread_radio.h"
 
 #include "esp_err.h"
@@ -13,6 +12,7 @@
 #include "esp_ieee802154.h"
 #include "esp_ieee802154_types.h"
 #include "esp_mac.h"
+#include "esp_openthread_common.h"
 #include "esp_openthread_common_macro.h"
 #include "esp_openthread_platform.h"
 #include "esp_openthread_types.h"
@@ -52,12 +52,6 @@ typedef struct {
     uint8_t psdu[OT_RADIO_FRAME_MAX_SIZE];
 } esp_openthread_radio_tx_psdu;
 
-typedef struct {
-    uint8_t head;
-    uint8_t tail;
-    atomic_uint_fast8_t used;
-} esp_openthread_circular_queue_info_t;
-
 static otRadioFrame s_transmit_frame;
 
 static esp_openthread_radio_tx_psdu s_transmit_psdu;
diff --git a/components/openthread/src/port/esp_openthread_state.c b/components/openthread/src/port/esp_openthread_state.c
index 153d343ea1..bc2641d905 100644
--- a/components/openthread/src/port/esp_openthread_state.c
+++ b/components/openthread/src/port/esp_openthread_state.c
@@ -10,7 +10,9 @@
 #include <esp_check.h>
 #include <esp_event.h>
 #include <esp_log.h>
+#include <esp_openthread_border_router.h>
 #include <esp_openthread_dns64.h>
+#include <esp_openthread_meshcop_mdns.h>
 #include <esp_openthread_netif_glue_priv.h>
 #include <esp_openthread_radio.h>
 #include <esp_openthread_state.h>
@@ -19,6 +21,19 @@
 
 #define TAG "OT_STATE"
 
+#if CONFIG_OPENTHREAD_BORDER_ROUTER
+static void handle_ot_border_router_state_changed(otInstance* instance)
+{
+    otDeviceRole role = otThreadGetDeviceRole(esp_openthread_get_instance());
+
+    if (role == OT_DEVICE_ROLE_CHILD || role == OT_DEVICE_ROLE_ROUTER || role == OT_DEVICE_ROLE_LEADER) {
+        esp_openthread_publish_meshcop_mdns(esp_openthread_get_meshcop_instance_name());
+    } else {
+        esp_openthread_remove_meshcop_mdns();
+    }
+}
+#endif
+
 static void handle_ot_netif_state_change(otInstance* instance)
 {
     if (otIp6IsEnabled(instance)) {
@@ -123,6 +138,12 @@ static void ot_state_change_callback(otChangedFlags changed_flags, void* ctx)
         return;
     }
 
+#if CONFIG_OPENTHREAD_BORDER_ROUTER
+    if (changed_flags & ESP_OPENTHREAD_BORDER_ROUTER_FLAG_OF_INTEREST) {
+        handle_ot_border_router_state_changed(instance);
+    }
+#endif
+
     if (changed_flags & OT_CHANGED_THREAD_ROLE) {
         handle_ot_role_change(instance);
     }
diff --git a/components/openthread/src/port/esp_openthread_trel.c b/components/openthread/src/port/esp_openthread_trel.c
index 3c56e7a1c1..eae1c04219 100644
--- a/components/openthread/src/port/esp_openthread_trel.c
+++ b/components/openthread/src/port/esp_openthread_trel.c
@@ -18,10 +18,12 @@
 #include "esp_netif_ip_addr.h"
 #include "esp_openthread.h"
 #include "esp_openthread_border_router.h"
+#include "esp_openthread_common.h"
 #include "esp_openthread_common_macro.h"
 #include "esp_openthread_lock.h"
+#include "esp_openthread_platform.h"
 #include "esp_openthread_radio.h"
-#include "esp_openthread_task_queue.h"
+#include "esp_vfs_eventfd.h"
 #include "lwip/pbuf.h"
 #include "lwip/tcpip.h"
 #include "lwip/udp.h"
@@ -54,6 +56,10 @@ typedef struct {
 
 static ot_trel_t s_ot_trel = {CONFIG_OPENTHREAD_TREL_PORT, NULL};
 static bool s_is_service_registered = false;
+static ot_trel_recv_task_t s_trel_receive_buffer[CONFIG_OPENTHREAD_TREL_BUFFER_SIZE];
+static esp_openthread_circular_queue_info_t s_recv_queue = {.head = 0, .tail = 0, .used = 0};
+static const char *s_trel_workflow = "trel";
+static int s_trel_event_fd = -1;
 
 static void trel_browse_notifier(mdns_result_t *result)
 {
@@ -89,55 +95,27 @@ static void trel_browse_notifier(mdns_result_t *result)
     }
 }
 
-static void trel_recv_task(void *ctx)
-{
-    esp_err_t ret = ESP_OK;
-    OT_UNUSED_VARIABLE(ret);
-    ot_trel_recv_task_t *task_ctx = (ot_trel_recv_task_t *)ctx;
-    struct pbuf *recv_buf = task_ctx->p;
-    uint8_t *data_buf = (uint8_t *)recv_buf->payload;
-    uint8_t *data_buf_to_free = NULL;
-    uint16_t length = recv_buf->len;
-
-    if (recv_buf->next != NULL) {
-        data_buf = (uint8_t *)malloc(recv_buf->tot_len);
-        ESP_GOTO_ON_FALSE(data_buf, ESP_ERR_NO_MEM, exit, OT_PLAT_LOG_TAG, "Failed to allocate data buf when receiving Thread TREL message");
-        length = recv_buf->tot_len;
-        data_buf_to_free = data_buf;
-        pbuf_copy_partial(recv_buf, data_buf, recv_buf->tot_len, 0);
-    }
-    otPlatTrelHandleReceived(esp_openthread_get_instance(), data_buf, length, task_ctx->source_addr);
-
-exit:
-    if (recv_buf) {
-        pbuf_free(recv_buf);
-    }
-    free(data_buf_to_free);
-    free(task_ctx->source_addr);
-    free(task_ctx);
-}
-
-// TZ-1704
 static void handle_trel_udp_recv(void *ctx, struct udp_pcb *pcb, struct pbuf *p, const ip_addr_t *addr, uint16_t port)
 {
     esp_err_t ret = ESP_OK;
+    otSockAddr *source_addr = NULL;
+    uint64_t event_trel_rx = 1;
     ESP_LOGD(OT_PLAT_LOG_TAG, "Receive from %s:%d", ip6addr_ntoa(&(addr->u_addr.ip6)), port);
+    ESP_GOTO_ON_FALSE(atomic_load(&s_recv_queue.used) < CONFIG_OPENTHREAD_TREL_BUFFER_SIZE, ESP_ERR_NO_MEM, exit, OT_PLAT_LOG_TAG, "trel receive buffer full!");
+    source_addr = (otSockAddr *)malloc(sizeof(otSockAddr));
+    ESP_GOTO_ON_FALSE(source_addr, ESP_ERR_NO_MEM, exit, OT_PLAT_LOG_TAG, "Failed to allocate buf for Thread TREL");
 
-    ot_trel_recv_task_t *task_ctx = (ot_trel_recv_task_t *)malloc(sizeof(ot_trel_recv_task_t));
-    ESP_GOTO_ON_FALSE(task_ctx, ESP_ERR_NO_MEM, exit, OT_PLAT_LOG_TAG, "Failed to allocate buf for Thread TREL");
-    task_ctx->p = p;
-    task_ctx->source_addr = (otSockAddr *)malloc(sizeof(otSockAddr));
-    ESP_GOTO_ON_FALSE(task_ctx->source_addr, ESP_ERR_NO_MEM, exit, OT_PLAT_LOG_TAG, "Failed to allocate buf for Thread TREL");
-    memset(task_ctx->source_addr, 0, sizeof(otSockAddr));
-    task_ctx->source_addr->mPort = port;
-    memcpy(&task_ctx->source_addr->mAddress.mFields.m32, addr->u_addr.ip6.addr, sizeof(addr->u_addr.ip6.addr));
-
-    ESP_GOTO_ON_ERROR(esp_openthread_task_queue_post(trel_recv_task, task_ctx), exit, OT_PLAT_LOG_TAG, "Failed to receive OpenThread TREL message");
+    memset(source_addr, 0, sizeof(otSockAddr));
+    source_addr->mPort = port;
+    memcpy(&source_addr->mAddress.mFields.m32, addr->u_addr.ip6.addr, sizeof(addr->u_addr.ip6.addr));
+    s_trel_receive_buffer[s_recv_queue.tail].source_addr = source_addr;
+    s_trel_receive_buffer[s_recv_queue.tail].p = p;
+    s_recv_queue.tail = (s_recv_queue.tail + 1) % CONFIG_OPENTHREAD_TREL_BUFFER_SIZE;
+    atomic_fetch_add(&s_recv_queue.used, 1);
+    assert(write(s_trel_event_fd, &event_trel_rx, sizeof(event_trel_rx)) == sizeof(event_trel_rx));
 
 exit:
     if (ret != ESP_OK) {
-        free(task_ctx->source_addr);
-        free(task_ctx);
         if (p) {
             pbuf_free(p);
         }
@@ -146,25 +124,76 @@ exit:
 
 static esp_err_t ot_new_trel(void *ctx)
 {
-    ot_trel_t *task = (ot_trel_t *)ctx;
+    s_ot_trel.trel_pcb = udp_new();
+    ESP_RETURN_ON_FALSE(s_ot_trel.trel_pcb != NULL, ESP_ERR_NO_MEM, OT_PLAT_LOG_TAG, "Failed to create a new UDP pcb");
+    udp_bind(s_ot_trel.trel_pcb, IP6_ADDR_ANY, s_ot_trel.port);
+    udp_recv(s_ot_trel.trel_pcb, handle_trel_udp_recv, NULL);
+    return ESP_OK;
+}
+
+void esp_openthread_trel_update(esp_openthread_mainloop_context_t *mainloop)
+{
+    FD_SET(s_trel_event_fd, &mainloop->read_fds);
+    if (s_trel_event_fd > mainloop->max_fd) {
+        mainloop->max_fd = s_trel_event_fd;
+    }
+}
+
+esp_err_t esp_openthread_trel_process(otInstance *aInstance, const esp_openthread_mainloop_context_t *mainloop)
+{
+    uint64_t event_read = 0;
+    assert(read(s_trel_event_fd, &event_read, sizeof(event_read)) == sizeof(event_read));
+    struct pbuf *recv_buf = NULL;
+    uint8_t *data_buf = NULL;
+    uint16_t length = 0;
+    otSockAddr *source_addr = NULL;
+
+    while (atomic_load(&s_recv_queue.used)) {
+        if (s_trel_receive_buffer[s_recv_queue.head].p != NULL) {
+
+            uint8_t *data_buf_to_free = NULL;
+            bool should_handle = true;
+            recv_buf = s_trel_receive_buffer[s_recv_queue.head].p;
+            data_buf = (uint8_t *)recv_buf->payload;
+            length = recv_buf->len;
+            source_addr = s_trel_receive_buffer[s_recv_queue.head].source_addr;
+
+            if (recv_buf->next != NULL) {
+                data_buf = (uint8_t *)malloc(recv_buf->tot_len);
+                if (data_buf) {
+                    pbuf_copy_partial(recv_buf, data_buf, recv_buf->tot_len, 0);
+                } else {
+                    should_handle = false;
+                }
+                length = recv_buf->tot_len;
+                data_buf_to_free = data_buf;
+            }
+            if (should_handle) {
+                otPlatTrelHandleReceived(aInstance, data_buf, length, source_addr);
+            }
+            pbuf_free(recv_buf);
+            free(data_buf_to_free);
+            free(source_addr);
+
+            s_recv_queue.head = (s_recv_queue.head + 1) % CONFIG_OPENTHREAD_TREL_BUFFER_SIZE;
+            atomic_fetch_sub(&s_recv_queue.used, 1);
+        }
+    }
 
-    task->trel_pcb = udp_new();
-    ESP_RETURN_ON_FALSE(task->trel_pcb != NULL, ESP_ERR_NO_MEM, OT_PLAT_LOG_TAG, "Failed to create a new UDP pcb");
-    udp_bind(task->trel_pcb, IP6_ADDR_ANY, task->port);
-    udp_recv(task->trel_pcb, handle_trel_udp_recv, NULL);
     return ESP_OK;
 }
 
 void otPlatTrelEnable(otInstance *aInstance, uint16_t *aUdpPort)
 {
+    ESP_RETURN_ON_FALSE(s_trel_event_fd == -1, , OT_PLAT_LOG_TAG, "ot trel has been initialized.");
+    s_trel_event_fd = eventfd(0, 0);
+    assert(s_trel_event_fd >= 0);
     *aUdpPort = s_ot_trel.port;
     esp_openthread_task_switching_lock_release();
-    esp_err_t err = esp_netif_tcpip_exec(ot_new_trel, &s_ot_trel);
-    if (err != ESP_OK) {
-        ESP_LOGE(OT_PLAT_LOG_TAG, "Fail to create trel udp");
-    }
+    ESP_ERROR_CHECK(esp_netif_tcpip_exec(ot_new_trel, NULL));
     mdns_browse_new(TREL_MDNS_TYPE, TREL_MDNS_PROTO, trel_browse_notifier);
     esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
+    ESP_ERROR_CHECK(esp_openthread_platform_workflow_register(&esp_openthread_trel_update, &esp_openthread_trel_process, s_trel_workflow));
 }
 
 static esp_err_t trel_send_task(void *ctx)
@@ -263,23 +292,41 @@ void otPlatTrelResetCounters(otInstance *aInstance)
     memset(&s_trel_counters, 0, sizeof(otPlatTrelCounters));
 }
 
-static void trel_disable_task(void *ctx)
+static esp_err_t trel_disable_task(void *ctx)
 {
-    struct udp_pcb *pcb = (struct udp_pcb *)ctx;
-    udp_remove(pcb);
+    if (ctx) {
+        struct udp_pcb *pcb = (struct udp_pcb *)ctx;
+        udp_remove(pcb);
+    }
+    return ESP_OK;
+}
+
+static void free_all_buffer(void)
+{
+    while (atomic_load(&s_recv_queue.used)) {
+        if (s_trel_receive_buffer[s_recv_queue.head].p != NULL) {
+            pbuf_free(s_trel_receive_buffer[s_recv_queue.head].p);
+            free(s_trel_receive_buffer[s_recv_queue.head].source_addr);
+            s_recv_queue.head = (s_recv_queue.head + 1) % CONFIG_OPENTHREAD_TREL_BUFFER_SIZE;
+            atomic_fetch_sub(&s_recv_queue.used, 1);
+        }
+    }
 }
 
 void otPlatTrelDisable(otInstance *aInstance)
 {
+    ESP_RETURN_ON_FALSE(s_trel_event_fd >= 0, , OT_PLAT_LOG_TAG, "ot trel is not initialized.");
     esp_openthread_task_switching_lock_release();
-    if (s_ot_trel.trel_pcb) {
-        tcpip_callback(trel_disable_task, s_ot_trel.trel_pcb);
-    }
+    esp_netif_tcpip_exec(trel_disable_task, s_ot_trel.trel_pcb);
+    s_ot_trel.trel_pcb = NULL;
     mdns_service_remove(TREL_MDNS_TYPE, TREL_MDNS_PROTO);
     s_is_service_registered = false;
     mdns_browse_delete(TREL_MDNS_TYPE, TREL_MDNS_PROTO);
     esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
-    s_ot_trel.trel_pcb = NULL;
+    esp_openthread_platform_workflow_unregister(s_trel_workflow);
+    free_all_buffer();
+    close(s_trel_event_fd);
+    s_trel_event_fd = -1;
 }
 
 const otPlatTrelCounters *otPlatTrelGetCounters(otInstance *aInstance)
diff --git a/examples/openthread/ot_br/main/esp_ot_br.c b/examples/openthread/ot_br/main/esp_ot_br.c
index bbd5ae3f0a..ffcfd39157 100644
--- a/examples/openthread/ot_br/main/esp_ot_br.c
+++ b/examples/openthread/ot_br/main/esp_ot_br.c
@@ -199,15 +199,20 @@ void app_main(void)
     // * netif
     // * task queue
     // * border router
-    esp_vfs_eventfd_config_t eventfd_config = {
+    size_t max_eventfd = 3;
+
 #if CONFIG_OPENTHREAD_RADIO_NATIVE || CONFIG_OPENTHREAD_RADIO_SPINEL_SPI
-        // * radio driver (A native radio device needs a eventfd for radio driver.)
-        // * SpiSpinelInterface (The Spi Spinel Interface needs a eventfd.)
-        // The above will not exist at the same time.
-        .max_fds = 4,
-#else
-        .max_fds = 3,
+    // * radio driver (A native radio device needs a eventfd for radio driver.)
+    // * SpiSpinelInterface (The Spi Spinel Interface needs a eventfd.)
+    // The above will not exist at the same time.
+    max_eventfd++;
 #endif
+#if CONFIG_OPENTHREAD_RADIO_TREL
+    // * TREL reception (The Thread Radio Encapsulation Link needs a eventfd for reception.)
+    max_eventfd++;
+#endif
+    esp_vfs_eventfd_config_t eventfd_config = {
+        .max_fds = max_eventfd,
     };
     ESP_ERROR_CHECK(esp_vfs_eventfd_register(&eventfd_config));
     ESP_ERROR_CHECK(nvs_flash_init());
diff --git a/examples/openthread/ot_trel/main/esp_ot_trel.c b/examples/openthread/ot_trel/main/esp_ot_trel.c
index 05b7251da4..a333eface5 100644
--- a/examples/openthread/ot_trel/main/esp_ot_trel.c
+++ b/examples/openthread/ot_trel/main/esp_ot_trel.c
@@ -125,8 +125,9 @@ void app_main(void)
     // Used eventfds:
     // * netif
     // * ot task queue
+    // * ot trel
     esp_vfs_eventfd_config_t eventfd_config = {
-        .max_fds = 2,
+        .max_fds = 3,
     };
 
     ESP_ERROR_CHECK(nvs_flash_init());