diff --git a/components/openthread/include/esp_openthread_types.h b/components/openthread/include/esp_openthread_types.h
index 1b1234ddcd..8fed9fbd0d 100644
--- a/components/openthread/include/esp_openthread_types.h
+++ b/components/openthread/include/esp_openthread_types.h
@@ -49,11 +49,11 @@ ESP_EVENT_DECLARE_BASE(OPENTHREAD_EVENT);
  *
  */
 typedef struct {
-    fd_set         read_fds;    /*!< The read file descriptors.*/
-    fd_set         write_fds;   /*!< The write file descriptors.*/
-    fd_set         error_fds;   /*!< The error file descriptors.*/
-    int            max_fd;      /*!< The max file descriptor.*/
-    struct timeval timeout;     /*!< The timeout.*/
+    fd_set         read_fds;    /*!< The read file descriptors */
+    fd_set         write_fds;   /*!< The write file descriptors */
+    fd_set         error_fds;   /*!< The error file descriptors */
+    int            max_fd;      /*!< The max file descriptor */
+    struct timeval timeout;     /*!< The timeout */
 } esp_openthread_mainloop_context_t;
 
 /**
@@ -61,8 +61,8 @@ typedef struct {
  *
  */
 typedef struct {
-    uart_port_t port;               /*!< UART port number*/
-    uart_config_t uart_config;      /*!< UART configuration, see uart_config_t docs*/
+    uart_port_t port;               /*!< UART port number */
+    uart_config_t uart_config;      /*!< UART configuration, see uart_config_t docs */
     int rx_pin;                     /*!< UART RX pin */
     int tx_pin;                     /*!< UART TX pin */
 } esp_openthread_uart_config_t;
@@ -72,9 +72,9 @@ typedef struct {
  *
  */
 typedef enum {
-    RADIO_MODE_NATIVE   = 0x0,      /*!< Use the native 15.4 radio*/
-    RADIO_MODE_UART_RCP = 0x1,      /*!< UART connection to a 15.4 capable radio co-processor (RCP)*/
-    RADIO_MODE_SPI_RCP  = 0x2,      /*!< SPI connection to a 15.4 capable radio co-processor (RCP)*/
+    RADIO_MODE_NATIVE   = 0x0,      /*!< Use the native 15.4 radio */
+    RADIO_MODE_UART_RCP = 0x1,      /*!< UART connection to a 15.4 capable radio co-processor (RCP) */
+    RADIO_MODE_SPI_RCP  = 0x2,      /*!< SPI connection to a 15.4 capable radio co-processor (RCP) */
 } esp_openthread_radio_mode_t;
 
 /**
@@ -82,9 +82,9 @@ typedef enum {
  *
  */
 typedef enum {
-    HOST_CONNECTION_MODE_NONE     = 0x0, /*!< Disable host connection*/
-    HOST_CONNECTION_MODE_CLI_UART = 0x1, /*!< CLI UART connection to the host*/
-    HOST_CONNECTION_MODE_RCP_UART = 0x2, /*!< RCP UART connection to the host*/
+    HOST_CONNECTION_MODE_NONE     = 0x0, /*!< Disable host connection */
+    HOST_CONNECTION_MODE_CLI_UART = 0x1, /*!< CLI UART connection to the host */
+    HOST_CONNECTION_MODE_RCP_UART = 0x2, /*!< RCP UART connection to the host */
 } esp_openthread_host_connection_mode_t;
 
 /**
@@ -92,8 +92,8 @@ typedef enum {
  *
  */
 typedef struct {
-    esp_openthread_radio_mode_t     radio_mode;         /*!< The radio mode*/
-    esp_openthread_uart_config_t    radio_uart_config;  /*!< The uart configuration to RCP*/
+    esp_openthread_radio_mode_t     radio_mode;         /*!< The radio mode */
+    esp_openthread_uart_config_t    radio_uart_config;  /*!< The uart configuration to RCP */
 } esp_openthread_radio_config_t;
 
 /**
@@ -101,8 +101,8 @@ typedef struct {
  *
  */
 typedef struct {
-    esp_openthread_host_connection_mode_t   host_connection_mode;   /*!< The host connection mode*/
-    esp_openthread_uart_config_t            host_uart_config;       /*!< The uart configuration to host*/
+    esp_openthread_host_connection_mode_t   host_connection_mode;   /*!< The host connection mode */
+    esp_openthread_uart_config_t            host_uart_config;       /*!< The uart configuration to host */
 } esp_openthread_host_connection_config_t;
 
 /**
@@ -110,9 +110,9 @@ typedef struct {
  *
  */
 typedef struct {
-    const char *storage_partition_name; /*!< The partition for storing OpenThread dataset*/
-    uint8_t     netif_queue_size;       /*!< The packet queue size for the network interface*/
-    uint8_t     task_queue_size;        /*!< The task queue size*/
+    const char *storage_partition_name; /*!< The partition for storing OpenThread dataset */
+    uint8_t     netif_queue_size;       /*!< The packet queue size for the network interface */
+    uint8_t     task_queue_size;        /*!< The task queue size */
 } esp_openthread_port_config_t;
 
 /**
@@ -120,9 +120,9 @@ typedef struct {
  *
  */
 typedef struct {
-    esp_openthread_radio_config_t               radio_config;   /*!< The radio configuration*/
-    esp_openthread_host_connection_config_t     host_config;    /*!< The host connection configuration*/
-    esp_openthread_port_config_t                port_config;    /*!< The port configuration*/
+    esp_openthread_radio_config_t               radio_config;   /*!< The radio configuration */
+    esp_openthread_host_connection_config_t     host_config;    /*!< The host connection configuration */
+    esp_openthread_port_config_t                port_config;    /*!< The port configuration */
 } esp_openthread_platform_config_t;
 
 #ifdef __cplusplus
diff --git a/examples/openthread/README.md b/examples/openthread/README.md
new file mode 100644
index 0000000000..1c7728835e
--- /dev/null
+++ b/examples/openthread/README.md
@@ -0,0 +1,13 @@
+# OpenThread Examples
+
+See the [README.md](../README.md) file in the upper level [examples](../) directory for more information about examples.
+
+## Overview
+
+In this folder, it contains following OpenThread examples:
+
+* [ot_cli](ot_cli) is an OpenThread Command Line example, in addition to the features listed in [OpenThread CLI](https://github.com/openthread/openthread/blob/master/src/cli/README.md), it supports some additional features such as TCP, UDP and Iperf over lwIP. It runs on an 802.15.4 SoC like ESP32-H2.
+
+* [ot_rcp](ot_rcp) is an [OpenThread RCP](https://openthread.io/platforms/co-processor) example. It runs on an 802.15.4 SoC like ESP32-H2, to extend 802.15.4 radio.
+
+* [ot_br](ot_br) is an [OpenThread Border Router](https://openthread.io/guides/border-router) example. It runs on a Wi-Fi SoC such as ESP32, ESP32-C3 and ESP32-S3. It needs an 802.15.4 SoC like ESP32-H2 running [ot_rcp](ot_rcp) example to provide 802.15.4 radio.
diff --git a/examples/openthread/ot_br/README.md b/examples/openthread/ot_br/README.md
index 18b37c37cb..5e8aa4143e 100644
--- a/examples/openthread/ot_br/README.md
+++ b/examples/openthread/ot_br/README.md
@@ -1,4 +1,4 @@
-# OpenThread Border Router example
+# OpenThread Border Router Example
 
 ## Overview
 
@@ -6,9 +6,20 @@ This example demonstrates an [OpenThread border router](https://openthread.io/gu
 
 ## How to use example
 
-### Hardware connection
+### Hardware Required
 
-To run this example, it's used to use an DevKit C board and connect PIN4 and PIN5 to the UART TX and RX port of another 15.4 capable radio co-processor ([RCP](https://openthread.io/platforms/co-processor?hl=en))
+Two SoCs are required to run this example:
+* An ESP32 series Wi-Fi SoC (ESP32, ESP32-C, ESP32-S, etc) loaded with this ot_br example.
+* An ESP32-H2 802.15.4 SoC loaded with [ot_rcp](../ot_rcp) example.
+
+Connect the two SoCs via UART, below is an example setup with ESP32 DevKitC and ESP32-H2 DevKitC:
+![thread_br](image/thread-border-router-esp32-esp32h2.jpg)
+
+ESP32 pin | ESP32-H2 pin
+----------|-------------
+   GND    |      G 
+   GPIO4  |      TX      
+   GPIO5  |      RX
 
 ### Configure the project
 
diff --git a/examples/openthread/ot_br/image/thread-border-router-esp32-esp32h2.jpg b/examples/openthread/ot_br/image/thread-border-router-esp32-esp32h2.jpg
new file mode 100644
index 0000000000..91f67f5a85
Binary files /dev/null and b/examples/openthread/ot_br/image/thread-border-router-esp32-esp32h2.jpg differ
diff --git a/examples/openthread/ot_br/main/Kconfig.projbuild b/examples/openthread/ot_br/main/Kconfig.projbuild
index cf056d4dea..7e03451aaf 100644
--- a/examples/openthread/ot_br/main/Kconfig.projbuild
+++ b/examples/openthread/ot_br/main/Kconfig.projbuild
@@ -1,4 +1,4 @@
-menu "Example Configuration"
+menu "OpenThread Border Router Example"
 
     config OPENTHREAD_NETWORK_NAME
         string "OpenThread network name"
diff --git a/examples/openthread/ot_br/main/esp_ot_br.c b/examples/openthread/ot_br/main/esp_ot_br.c
index d473d2076d..1e667f9669 100644
--- a/examples/openthread/ot_br/main/esp_ot_br.c
+++ b/examples/openthread/ot_br/main/esp_ot_br.c
@@ -1,16 +1,11 @@
-// Copyright 2021 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
+/* OpenThread Border Router Example
 
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
 
 #include <stdio.h>
 #include <string.h>
diff --git a/examples/openthread/ot_br/main/esp_ot_config.h b/examples/openthread/ot_br/main/esp_ot_config.h
index 70af02ca11..11939eb6e8 100644
--- a/examples/openthread/ot_br/main/esp_ot_config.h
+++ b/examples/openthread/ot_br/main/esp_ot_config.h
@@ -1,16 +1,11 @@
-// Copyright 2021 Espressif Systems (Shanghai) CO LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
+/* OpenThread Border Router Example
 
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
 
 #pragma once
 
diff --git a/examples/openthread/ot_br/sdkconfig.defaults b/examples/openthread/ot_br/sdkconfig.defaults
index 0393543019..87c25df107 100644
--- a/examples/openthread/ot_br/sdkconfig.defaults
+++ b/examples/openthread/ot_br/sdkconfig.defaults
@@ -49,3 +49,9 @@ CONFIG_LWIP_HOOK_ND6_GET_GW_DEFAULT=y
 #
 CONFIG_MDNS_STRICT_MODE=y
 # end of mDNS
+
+#
+# ESP System Settings
+#
+CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=3584
+# end of ESP System Settings
diff --git a/examples/openthread/ot_cli/README.md b/examples/openthread/ot_cli/README.md
index 2fd6170f6d..323c5c75ce 100644
--- a/examples/openthread/ot_cli/README.md
+++ b/examples/openthread/ot_cli/README.md
@@ -1,14 +1,15 @@
-# OpenThread command line example 
+| Supported Targets | ESP32-H2 |
+| ----------------- | -------- |
 
-## Overview
+# OpenThread Command Line Example
 
-This example demonstrates a [basic OpenThread command line](https://github.com/openthread/openthread/blob/master/src/cli/README.md).
+This example demonstrates an [OpenThread CLI](https://github.com/openthread/openthread/blob/master/src/cli/README.md), with some additional features such as TCP, UDP and Iperf.
 
 ## How to use example
 
-### Hardware connection
+### Hardware Required
 
-To run this example, it's used to use an DevKit C board and connect PIN4 and PIN5 to the UART TX and RX port of another 15.4 capable radio co-processor ([RCP](https://openthread.io/platforms/co-processor?hl=en))
+To run this example, an ESP32-H2 board is required.
 
 ### Configure the project
 
@@ -26,56 +27,57 @@ Build the project and flash it to the board, then run monitor tool to view seria
 idf.py -p PORT build flash monitor
 ```
 
-Now you'll get an interactive OpenThread command line shell.
+Now you'll get an OpenThread command line shell.
 
-## Example Output
+### Example Output
 
+The `help` command will print all of the supported commands.
 ```bash
-I (1540) OPENTHREAD: [INFO]-PLAT----: RCP reset: RESET_POWER_ON
-I (1610) OPENTHREAD: [NOTE]-PLAT----: RCP API Version: 3
-I (1840) OPENTHREAD: [INFO]-CORE----: Non-volatile: Read NetworkInfo {rloc:0x7404, extaddr:aee4a5cc7ed1ad88, role:Child, mode:0x0f, version:2, keyseq:0x0, ...
-I (1850) OPENTHREAD: [INFO]-CORE----: Non-volatile: ... pid:0x1161bcdc, mlecntr:0x5a17, maccntr:0x5a91, mliid:33158c466ab576d4}
-I (1900) OPENTHREAD: [INFO]-CORE----: Non-volatile: Read ParentInfo {extaddr:36505631b12ea5e3, version:2}
-I (1900) OPENTHREAD: [INFO]-CORE----: Notifier: StateChanged (0x1007c300) [KeySeqCntr NetData Channel PanId NetName ExtPanId MstrKey ActDset] 
+>  help
+I(7058) OPENTHREAD:[INFO]-CLI-----: execute command: help
+bbr
+bufferinfo
+ccathreshold
+channel
+child
+childip
+childmax
+childsupervision
+childtimeout
+coap
+contextreusedelay
+counters
+dataset
+delaytimermin
+diag
+discover
+dns
+domainname
+eidcache
+eui64
+extaddr
+extpanid
+factoryreset
+...
+```
+
+## Set Up Network
+
+To run this example, at least two ESP32-H2 boards flashed with this ot_cli example are required.
+
+On the first device, run the following commands:
+```bash
+> factoryreset
+... # the device will reboot
 
-> ifconfig up
-I (11320) OPENTHREAD: [INFO]-CLI-----: execute command: ifconfig up
-Done
-I (11340) OPENTHREAD: [INFO]-CORE----: Notifier: StateChanged (0x01001009) [Ip6+ LLAddr Ip6Mult+ NetifState] 
 > dataset init new
-I (105650) OPENTHREAD: [INFO]-CLI-----: execute command: dataset init new
 Done
-
-> dataset
-I (107460) OPENTHREAD: [INFO]-CLI-----: execute command: dataset
-Active Timestamp: 1
-Channel: 14
-Channel Mask: 0x07fff800
-Ext PAN ID: d9d69bf6535735ec
-Mesh Local Prefix: fd73:192f:f27:2a5c::/64
-Master Key: 7ad0ec87abbd8c41f07d004922b480bf
-Network Name: OpenThread-a5fe
-PAN ID: 0xa5fe
-PSKc: ef028c933febdeb226f6681cc780272a
-Security Policy: 672, onrcb
-Done
-
 > dataset commit active
-I (134350) OPENTHREAD: [INFO]-CLI-----: execute command: dataset commit active
-I (134350) OPENTHREAD: [INFO]-MESH-CP-: Active dataset set
 Done
-I (134380) OPENTHREAD: [INFO]-CORE----: Notifier: StateChanged (0x101fc110) [MLAddr KeySeqCntr Channel PanId NetName ExtPanId MstrKey PSKc SecPolicy ...
-I (134390) OPENTHREAD: [INFO]-CORE----: Notifier: StateChanged (0x101fc110) ... ActDset] 
-
->thread start                                                         
-I (177250) OPENTHREAD: [INFO]-CLI-----: execute command: thread start
-I (177250) OPENTHREAD: [NOTE]-MLE-----: Role Disabled -> Detached
-I (177280) OPENTHREAD: [INFO]-CORE----: Non-volatile: Read NetworkInfo {rloc:0x7404, extaddr:aee4a5cc7ed1ad88, role:Child, mode:0x0f, version:2, keyseq:0x0, ...
-I (177290) OPENTHREAD: [INFO]-CORE----: Non-volatile: ... pid:0x1161bcdc, mlecntr:0x5a17, maccntr:0x5a91, mliid:33158c466ab576d4}            
-I (194054) OPENTHREAD: [INFO]-CORE----: Non-volatile: Saved NetworkInfo {rloc:0x7404, extaddr:aee4a5cc7ed1ad88, role:Child, mode:0x0f, version:2, keyseq:0x0, ...
-I (194064) OPENTHREAD: [INFO]-CORE----: Non-volatile: ... pid:0x1161bcdc, mlecntr:0x5e00, maccntr:0x5e79, mliid:33158c466ab576d4}            
-I (194074) OPENTHREAD: [INFO]-MLE-----: Send Child Update Request to parent (fe80:0:0:0:3450:5631:b12e:a5e3)                                 
-Done                                                                  
+> ifconfig up
+Done
+> thread start
+Done
 
 # After some seconds
 
@@ -83,195 +85,80 @@ Done
 leader
 Done
 ```
-
-## Example1: Set up network
-
-You need to prepare two esp32h2(or two ESP devices each connected to a 15.4 RCP) and flashed with this example.
-
-### Step 1 Configure the project
-
+Now the first device has formed a Thread network as a leader. Get some information which will be used in next steps:
 ```bash
-idf.py menuconfig
+> ipaddr
+fdde:ad00:beef:0:0:ff:fe00:fc00
+fdde:ad00:beef:0:0:ff:fe00:8000
+fdde:ad00:beef:0:a7c6:6311:9c8c:271b
+fe80:0:0:0:5c27:a723:7115:c8f8
+
+# Get the Active Dataset
+> dataset active -x
+0e080000000000010000000300001835060004001fffe00208fe7bb701f5f1125d0708fd75cbde7c6647bd0510b3914792d44f45b6c7d76eb9306eec94030f4f70656e5468726561642d35383332010258320410e35c581af5029b054fc904a24c2b27700c0402a0fff8
 ```
 
-### Step 2 Build, Flash, and Run
-
-```
-idf.py -p PORT flash monitor
-```
-
-### Step 3 Set up network
-
-On the first device, run:
+On the second device, set the active dataset from leader, and start Thread interface:
 ```bash
-> extaddr 166e0a0000000001
-Done
-> dataset channel 17
-Done
-> dataset panid 0xface
-Done
-> dataset extpanid 000db80000000000
-Done
-> dataset networkname GRL
-Done
-> dataset masterkey 00112233445566778899aabbccddeeff
-Done
-> dataset meshlocalprefix FD00:0DB8:0000:0000::
-Done
-> dataset pskc 00000000000000000000000000000000
-Done
-> dataset activetimestamp 1
-Done
-> dataset commit active
-Done
+> factoryreset
+... # the device will reboot
+
+> dataset set active 0e080000000000010000000300001835060004001fffe00208fe7bb701f5f1125d0708fd75cbde7c6647bd0510b3914792d44f45b6c7d76eb9306eec94030f4f70656e5468726561642d35383332010258320410e35c581af5029b054fc904a24c2b27700c0402a0fff8
 > ifconfig up
 Done
 > thread start
 Done
 
- # After some seconds
-
-> state
-leader
-Done
-```
-Now the first device has formed a Thread network, on the second device run:
-
-```bash
-> extaddr 166e0a0000000002
-Done
-> dataset channel 17
-Done
-> dataset panid 0xface
-Done
-> dataset extpanid 000db80000000000
-Done
-> dataset networkname GRL
-Done
-> dataset masterkey 00112233445566778899aabbccddeeff
-Done
-> dataset meshlocalprefix FD00:0DB8:0000:0000::
-Done
-> dataset pskc 00000000000000000000000000000000
-Done
-> dataset activetimestamp 1
-Done
-> dataset commit active
-Done
-> ifconfig up
-Done
-> thread start
-Done
-
- # After some seconds
+# After some seconds
 
 > state
 router  # child is also a valid state
 Done
 ```
+The second device has joined the Thread network as a router (or a child).
 
-Now the second device has joined the Thread network and acting as a router (or a child).
-
-## Example2: TCP/UDP server and client
-
-You need to prepare two ESP devices each connected to a 15.4 RCP and flashed with this example.
-
-### Step 1 Configure the project and Set up network 
+## TCP and UDP Example
 
+On the leader device, start a TCP or UDP server:
 ```bash
-idf.py menuconfig
-```
-Enable the operation: Example Configuration -> Enable custom command in ot-cli
-
-After configuring the project project, you should follow 'Example1' to set up network.
-
-
-### Step 2 Set up tcp/udp socket server and client
-
-In leader device, run this command in command line shell.
-
-```bash
-# for setup a tcp server
 > tcpsockserver
-
-# for setup an udp server
+Done
+I (1310225) ot_socket: Socket created
+I (1310225) ot_socket: Socket bound, port 12345
+I (1310225) ot_socket: Socket listening, timeout is 30 seconds
+```
+or (UDP Server)
+```bash
 > udpsockserver
+Done
+I (1339815) ot_socket: Socket created
+I (1339815) ot_socket: Socket bound, port 54321
+I (1339815) ot_socket: Waiting for data, timeout is 30 seconds
+Done
 ```
 
-Then run this command to get the leader IPv6 address.
-
+On router device, start a TCP or UDP client (replace with the leader's IPv6 address):
 ```bash
-> ipaddr
-fd00:db8:0:0:0:ff:fe00:fc00
-fd00:db8:0:0:0:ff:fe00:ac00
-fd00:db8:0:0:284a:cb4a:cb3b:2a42
-fe80:0:0:0:146e:a00:0:1
+> tcpsockclient fdde:ad00:beef:0:a7c6:6311:9c8c:271b
+Done
+ot_socket: Socket created, connecting to fdde:ad00:beef:0:a7c6:6311:9c8c:271b:12345
+ot_socket: Successfully connected
+...
 ```
-
-In router device, run this command to set up a socket client in command line shell.
-
+or (UDP Client)
 ```bash
-# for setup a tcp client
-> tcpsockclient fd00:db8:0:0:284a:cb4a:cb3b:2a42
-
-# for setup an udp client
-> udpsockclient fd00:db8:0:0:284a:cb4a:cb3b:2a42
+> udpsockclient fdde:ad00:beef:0:a7c6:6311:9c8c:271b
+Done
+ot_socket: Socket created, sending to fdde:ad00:beef:0:a7c6:6311:9c8c:271b:54321
+ot_socket: Message sent
+...
 ```
 
-You will get
+### Iperf Example
 
-```bash
-# in leader device
-
-> tcpsockserver
-I(173437) OPENTHREAD:[INFO]-CLI-----: execute command: tcpsockserver
-> I (173437) ot_secket: Socket created
-I (173437) ot_secket: Socket bound, port 12345
-I (173457) ot_secket: Socket listening, timeout is 30 seconds
-I(175007) OPENTHREAD:[INFO]-MLE-----: Send Advertisement (ff02:0:0:0:0:0:0:1)
-
-......
-
-I (182187) ot_secket: Received 28 bytes from client:
-I (182187) ot_secket: This message is from client
-I (182187) ot_secket: Socket accepted ip address: FD00:DB8::498:DDB:EC7:49DC
-I (182189) ot_secket: Socket server is closed.
-
-# in router device
-
-> tcpsockclient fd00:db8:0:0:284a:cb4a:cb3b:2a42
-I(37731) OPENTHREAD:[INFO]-CLI-----: execute command: tcpsockclient fd00:db8:0:0:284a:cb4a:cb3b:2a42
-> I (37741) ot_secket: Socket created, connecting to b80d00fd:0:4acb4a28:422a3bcb:12345
-I(37751) OPENTHREAD:[INFO]-ARP-----: Sending address query for fd00:db8:0:0:284a:cb4a:cb3b:2a42
-
-......
-
-I (38171) ot_secket: Successfully connected
-
-......
-
-I (38321) ot_secket: Received 28 bytes from fd00:db8:0:0:284a:cb4a:cb3b:2a42
-I (38321) ot_secket: This message is from server
-I (38323) ot_secket: Socket client is closed.
-```
-
-## Example3 iperf:
-
-### Step 1 Configure the project and Set up network 
-
-```bash
-idf.py menuconfig
-```
-Enable the operation: Openthread -> Enable custom command in ot-cli
-
-After configuring the project project, you should follow 'Example1' to set up network.
-
-### Step 2 Iperf test:
-
-Run this command for iperf help:
+Print the iperf help:
 ```bash
 iperf
-I(272113) OPENTHREAD:[INFO]-CLI-----: execute command: iperf
 ---iperf parameter---
 -s                  :     server mode, only receive
 -u                  :     upd mode
@@ -287,32 +174,56 @@ create a udp client :     iperf -c <addr> -u -i 3 -t 60 -p 5001 -l 512
 Done
 ```
 
-In leader device, run this command to get the leader IPv6 address.
-
+On the leader device, start iperf TCP or UDP server:
 ```bash
-> ipaddr
-fd00:db8:0:0:0:ff:fe00:fc00
-fd00:db8:0:0:0:ff:fe00:ac00
-fd00:db8:0:0:284a:cb4a:cb3b:2a42
-fe80:0:0:0:146e:a00:0:1
-```
-
-Then run this command in command line shell.
-
-```bash
-# for setting up an iperf tcp server
 > iperf -V -s -i 3 -p 5001 -t 20
-
-# for setting up an iperf udp server
+i:3
+dp:5001
+sp:5001
+t:20
+Done
+```
+or (UDP Server)
+```bash
 > iperf -V -s -u -i 3 -p 5001 -t 20
+i:3
+dp:5001
+sp:5001
+t:20
+Done
 ```
 
-In router device, run this command in command line shell.
+On the router device, start iperf TCP or UDP client:
 
 ```bash
-# for setting up an iperf tcp client
-> iperf -V -c fd00:db8:0:0:284a:cb4a:cb3b:2a42 -i 1 -t 14 -p 5001 -l 512
-
-# for setting up an iperf udp client
-> iperf -V -c fd00:db8:0:0:284a:cb4a:cb3b:2a42 -u -i 1 -t 14 -p 5001 -l 512
+> iperf -V -c fdde:ad00:beef:0:a7c6:6311:9c8c:271b -i 1 -t 5 -p 5001 -l 85
+ip:fdde:ad00:beef:0:a7c6:6311:9c8c:271b
+i:1
+t:5
+dp:5001
+sp:5001
+Done
+        Interval Bandwidth
+   0-   1 sec       0.05 Mbits/sec
+   1-   2 sec       0.05 Mbits/sec
+   2-   3 sec       0.05 Mbits/sec
+   3-   4 sec       0.05 Mbits/sec
+   4-   5 sec       0.05 Mbits/sec
+   0-   5 sec       0.05 Mbits/sec
+```
+or (UDP Client)
+```bash
+> iperf -V -c fdde:ad00:beef:0:a7c6:6311:9c8c:271b -u -i 1 -t 5 -p 5001 -l 85
+ip:fdde:ad00:beef:0:a7c6:6311:9c8c:271b
+i:1
+t:5
+dp:5001
+sp:5001
+Done
+   0-   1 sec       0.05 Mbits/sec
+   1-   2 sec       0.05 Mbits/sec
+   2-   3 sec       0.05 Mbits/sec
+   3-   4 sec       0.05 Mbits/sec
+   4-   5 sec       0.05 Mbits/sec
+   0-   5 sec       0.05 Mbits/sec
 ```
diff --git a/examples/openthread/ot_cli/main/esp_ot_cli.c b/examples/openthread/ot_cli/main/esp_ot_cli.c
index 2c14f907b6..e771c7f634 100644
--- a/examples/openthread/ot_cli/main/esp_ot_cli.c
+++ b/examples/openthread/ot_cli/main/esp_ot_cli.c
@@ -1,7 +1,10 @@
-/*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
+/* OpenThread Command Line Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
 */
 
 #include <stdio.h>
diff --git a/examples/openthread/ot_cli/main/esp_ot_cli_extension.c b/examples/openthread/ot_cli/main/esp_ot_cli_extension.c
index 240573f0a9..fb76929d24 100644
--- a/examples/openthread/ot_cli/main/esp_ot_cli_extension.c
+++ b/examples/openthread/ot_cli/main/esp_ot_cli_extension.c
@@ -1,7 +1,10 @@
-/*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
+/* OpenThread Command Line Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
 */
 
 #include "esp_openthread.h"
diff --git a/examples/openthread/ot_cli/main/esp_ot_cli_extension.h b/examples/openthread/ot_cli/main/esp_ot_cli_extension.h
index 4ad6cf79ad..ce90a0d39f 100644
--- a/examples/openthread/ot_cli/main/esp_ot_cli_extension.h
+++ b/examples/openthread/ot_cli/main/esp_ot_cli_extension.h
@@ -1,7 +1,10 @@
-/*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
+/* OpenThread Command Line Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
 */
 
 #pragma once
diff --git a/examples/openthread/ot_cli/main/esp_ot_config.h b/examples/openthread/ot_cli/main/esp_ot_config.h
index 94c6c9f475..3c33efc850 100644
--- a/examples/openthread/ot_cli/main/esp_ot_config.h
+++ b/examples/openthread/ot_cli/main/esp_ot_config.h
@@ -1,7 +1,10 @@
-/*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
+/* OpenThread Command Line Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
 */
 
 #pragma once
diff --git a/examples/openthread/ot_cli/main/esp_ot_iperf.c b/examples/openthread/ot_cli/main/esp_ot_iperf.c
index 7b40608cb8..9a9d09ae7a 100644
--- a/examples/openthread/ot_cli/main/esp_ot_iperf.c
+++ b/examples/openthread/ot_cli/main/esp_ot_iperf.c
@@ -1,7 +1,10 @@
-/*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
+/* OpenThread Command Line Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
 */
 
 #include "esp_check.h"
diff --git a/examples/openthread/ot_cli/main/esp_ot_iperf.h b/examples/openthread/ot_cli/main/esp_ot_iperf.h
index c3455caa33..e11e4d11d2 100644
--- a/examples/openthread/ot_cli/main/esp_ot_iperf.h
+++ b/examples/openthread/ot_cli/main/esp_ot_iperf.h
@@ -1,7 +1,10 @@
-/*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
+/* OpenThread Command Line Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
 */
 
 #pragma once
diff --git a/examples/openthread/ot_cli/main/esp_ot_tcp_socket.c b/examples/openthread/ot_cli/main/esp_ot_tcp_socket.c
index 66531fe548..845f1d29a0 100644
--- a/examples/openthread/ot_cli/main/esp_ot_tcp_socket.c
+++ b/examples/openthread/ot_cli/main/esp_ot_tcp_socket.c
@@ -1,7 +1,10 @@
-/*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
+/* OpenThread Command Line Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
 */
 
 #include "esp_check.h"
@@ -108,7 +111,7 @@ static void tcp_socket_client_task(void *pvParameters)
     client_sock = socket(AF_INET6, SOCK_STREAM, IPPROTO_IPV6);
     ESP_GOTO_ON_FALSE((client_sock >= 0), ESP_OK, exit, TAG, "Unable to create socket: errno %d", errno);
 
-    ESP_LOGI(TAG, "Socket created, connecting to %x:%x:%x:%x:%d", dest_addr.sin6_addr.un.u32_addr[0], dest_addr.sin6_addr.un.u32_addr[1], dest_addr.sin6_addr.un.u32_addr[2], dest_addr.sin6_addr.un.u32_addr[3], port);
+    ESP_LOGI(TAG, "Socket created, connecting to %s:%d", host_ip, port);
 
     err = connect(client_sock, (struct sockaddr *)&dest_addr, sizeof(struct sockaddr_in6));
     ESP_GOTO_ON_FALSE((err == 0), ESP_FAIL, exit, TAG, "Socket unable to connect: errno %d", errno);
diff --git a/examples/openthread/ot_cli/main/esp_ot_tcp_socket.h b/examples/openthread/ot_cli/main/esp_ot_tcp_socket.h
index cf1e9d357b..66101a5d11 100644
--- a/examples/openthread/ot_cli/main/esp_ot_tcp_socket.h
+++ b/examples/openthread/ot_cli/main/esp_ot_tcp_socket.h
@@ -1,7 +1,10 @@
-/*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
+/* OpenThread Command Line Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
 */
 
 #pragma once
diff --git a/examples/openthread/ot_cli/main/esp_ot_udp_socket.c b/examples/openthread/ot_cli/main/esp_ot_udp_socket.c
index 19c9035e2d..e3f5727e7d 100644
--- a/examples/openthread/ot_cli/main/esp_ot_udp_socket.c
+++ b/examples/openthread/ot_cli/main/esp_ot_udp_socket.c
@@ -1,7 +1,10 @@
-/*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
+/* OpenThread Command Line Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
 */
 
 #include "esp_check.h"
diff --git a/examples/openthread/ot_cli/main/esp_ot_udp_socket.h b/examples/openthread/ot_cli/main/esp_ot_udp_socket.h
index 4089cc9689..531b6be09e 100644
--- a/examples/openthread/ot_cli/main/esp_ot_udp_socket.h
+++ b/examples/openthread/ot_cli/main/esp_ot_udp_socket.h
@@ -1,7 +1,10 @@
-/*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
+/* OpenThread Command Line Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
 */
 
 #pragma once
@@ -17,7 +20,7 @@ extern "C" {
 void esp_ot_process_udp_server(void *aContext, uint8_t aArgsLength, char *aArgs[]);
 
 /**
- * @brief Yser command "udpsockserver" process.
+ * @brief User command "udpsockclient" process.
  *
  */
 void esp_ot_process_udp_client(void *aContext, uint8_t aArgsLength, char *aArgs[]);
diff --git a/examples/openthread/ot_cli/sdkconfig.defaults b/examples/openthread/ot_cli/sdkconfig.defaults
index 71325fce67..f7807d740a 100644
--- a/examples/openthread/ot_cli/sdkconfig.defaults
+++ b/examples/openthread/ot_cli/sdkconfig.defaults
@@ -1,3 +1,4 @@
+CONFIG_IDF_TARGET="esp32h2"
 #
 # libsodium
 #
@@ -17,12 +18,13 @@ CONFIG_PARTITION_TABLE_MD5=y
 #
 # mbedTLS
 #
-
+# ESP32H2-TODO: enable HW acceleration
+CONFIG_MBEDTLS_HARDWARE_AES=n
+CONFIG_MBEDTLS_HARDWARE_MPI=n
+CONFIG_MBEDTLS_HARDWARE_SHA=n
 CONFIG_MBEDTLS_CMAC_C=y
 CONFIG_MBEDTLS_SSL_PROTO_DTLS=y
 CONFIG_MBEDTLS_KEY_EXCHANGE_ECJPAKE=y
-# end of TLS Key Exchange Methods
-
 CONFIG_MBEDTLS_ECJPAKE_C=y
 # end of mbedTLS
 
@@ -30,6 +32,7 @@ CONFIG_MBEDTLS_ECJPAKE_C=y
 # OpenThread
 #
 CONFIG_OPENTHREAD_ENABLED=y
+CONFIG_OPENTHREAD_BORDER_ROUTER=n
 # end of OpenThread
 
 #
@@ -39,3 +42,9 @@ CONFIG_LWIP_TCPIP_TASK_STACK_SIZE=4096
 CONFIG_LWIP_IPV6_NUM_ADDRESSES=8
 CONFIG_LWIP_MULTICAST_PING=y
 # end of lwIP
+
+#
+# IEEE 802.15.4
+#
+CONFIG_IEEE802154_ENABLED=y
+# end of IEEE 802.15.4
diff --git a/examples/openthread/ot_cli/sdkconfig.defaults.esp32h2 b/examples/openthread/ot_cli/sdkconfig.defaults.esp32h2
deleted file mode 100644
index 28d6db482c..0000000000
--- a/examples/openthread/ot_cli/sdkconfig.defaults.esp32h2
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-# mbedTLS
-#
-
-# ESP32H2-TODO: enable HW acceleration
-CONFIG_MBEDTLS_HARDWARE_AES=n
-CONFIG_MBEDTLS_HARDWARE_MPI=n
-CONFIG_MBEDTLS_HARDWARE_SHA=n
-# end of mbedTLS
-
-#
-# OpenThread
-#
-CONFIG_OPENTHREAD_BORDER_ROUTER=n
-# end of OpenThread
-
-#
-# IEEE 802.15.4
-#
-CONFIG_IEEE802154_ENABLED=y
-# end of IEEE 802.15.4
diff --git a/examples/openthread/ot_rcp/main/esp_ot_config.h b/examples/openthread/ot_rcp/main/esp_ot_config.h
index 91cbd362bd..615f867a3c 100644
--- a/examples/openthread/ot_rcp/main/esp_ot_config.h
+++ b/examples/openthread/ot_rcp/main/esp_ot_config.h
@@ -1,16 +1,11 @@
-// Copyright 2021 Espressif Systems (Shanghai) CO LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
+/* OpenThread RCP Example
 
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
 
 #pragma once
 
diff --git a/examples/openthread/ot_rcp/main/esp_ot_rcp.c b/examples/openthread/ot_rcp/main/esp_ot_rcp.c
index 433f630294..eb14ea9dea 100644
--- a/examples/openthread/ot_rcp/main/esp_ot_rcp.c
+++ b/examples/openthread/ot_rcp/main/esp_ot_rcp.c
@@ -1,16 +1,11 @@
-// Copyright 2021 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
+/* OpenThread RCP Example
 
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
 
 #include <stdio.h>
 #include <unistd.h>