diff --git a/.gitlab/ci/dependencies/dependencies.yml b/.gitlab/ci/dependencies/dependencies.yml
index b4c16890f1..b39da7b42c 100644
--- a/.gitlab/ci/dependencies/dependencies.yml
+++ b/.gitlab/ci/dependencies/dependencies.yml
@@ -178,6 +178,7 @@ build:integration_test:
     - "build:example_test-esp32h4"
     - "build:example_test-esp32s3"
     - "build:example_test-esp32c6"
+    - "build:example_test-esp32h2"
     - "build:example_test"
     - build:target_test
 
diff --git a/.gitlab/ci/target-test.yml b/.gitlab/ci/target-test.yml
index 62037b1c5c..b3c3f05da3 100644
--- a/.gitlab/ci/target-test.yml
+++ b/.gitlab/ci/target-test.yml
@@ -892,6 +892,7 @@ example_test_pytest_openthread_br:
     - build_pytest_examples_esp32s3
     - build_pytest_examples_esp32c6
     - build_pytest_examples_esp32h4
+    - build_pytest_examples_esp32h2
   tags:
     - esp32h4
     - openthread_br
diff --git a/examples/openthread/.build-test-rules.yml b/examples/openthread/.build-test-rules.yml
index d864f9233b..c3c0e491af 100644
--- a/examples/openthread/.build-test-rules.yml
+++ b/examples/openthread/.build-test-rules.yml
@@ -13,10 +13,6 @@ examples/openthread/ot_br:
 examples/openthread/ot_cli:
   enable:
     - if: IDF_TARGET in ["esp32h2", "esp32h4", "esp32c6"]
-  disable_test:
-    - if: IDF_TARGET == "esp32h2"
-      temporary: true
-      reason: test on esp32h4 and esp32c6
 
 examples/openthread/ot_rcp:
   enable:
diff --git a/examples/openthread/ot_cli/sdkconfig.ci.cli_h2 b/examples/openthread/ot_cli/sdkconfig.ci.cli_h2
new file mode 100644
index 0000000000..485c06eac5
--- /dev/null
+++ b/examples/openthread/ot_cli/sdkconfig.ci.cli_h2
@@ -0,0 +1,2 @@
+CONFIG_IDF_TARGET="esp32h2"
+CONFIG_IDF_TARGET_ESP32H2=y
diff --git a/examples/openthread/pytest_otbr.py b/examples/openthread/pytest_otbr.py
index 223a2be7c4..4c54da674f 100644
--- a/examples/openthread/pytest_otbr.py
+++ b/examples/openthread/pytest_otbr.py
@@ -77,22 +77,26 @@ default_cli_ot_para = ocf.thread_parameter('router', '', '12', '', False)
 @pytest.mark.flaky(reruns=1, reruns_delay=1)
 @pytest.mark.parametrize(
     'port, config, count, app_path, beta_target, target', [
-        ('/dev/USB_RCP|/dev/USB_CLI|/dev/USB_BR|/dev/USB_CLI_C6', 'rcp|cli|br|cli_c6', 4,
+        ('/dev/USB_RCP|/dev/USB_CLI|/dev/USB_BR|/dev/USB_CLI_C6|/dev/USB_CLI_H2',
+         'rcp|cli|br|cli_c6|cli_h2', 5,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}'
+         f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}',
-         'esp32h2beta2|esp32h2beta2|esp32s3|esp32c6', 'esp32h4|esp32h4|esp32s3|esp32c6'),
+         'esp32h2beta2|esp32h2beta2|esp32s3|esp32c6|esp32h2',
+         'esp32h4|esp32h4|esp32s3|esp32c6|esp32h2'),
     ],
     indirect=True,
 )
-def test_thread_connect(dut:Tuple[IdfDut, IdfDut, IdfDut, IdfDut]) -> None:
+def test_thread_connect(dut:Tuple[IdfDut, IdfDut, IdfDut, IdfDut, IdfDut]) -> None:
     br = dut[2]
-    cli_h2  = dut[1]
+    cli_h4  = dut[1]
     cli_c6 = dut[3]
+    cli_h2 = dut[4]
     dut[0].serial.stop_redirect_thread()
-    cli_list = [cli_h2, cli_c6]
-    router_extaddr_list = ['7766554433221101', '7766554433221102']
+    cli_list = [cli_h4, cli_c6, cli_h2]
+    router_extaddr_list = ['7766554433221101', '7766554433221102', '7766554433221103']
 
     ocf.reset_thread(br)
     for cli in cli_list: