diff --git a/components/openthread/Kconfig b/components/openthread/Kconfig
index 93b7246b27..fd77585b23 100644
--- a/components/openthread/Kconfig
+++ b/components/openthread/Kconfig
@@ -374,5 +374,24 @@ menu "OpenThread"
         default n
         help
             Select this option to enable the OpenThread Radio Spinel for external protocol stack, such as Zigbee.
+    menu "Thread Address Query Config"
+        config OPENTHREAD_ADDRESS_QUERY_TIMEOUT
+            int "Timeout value (in seconds) for a address notification response after sending an address query."
+            depends on OPENTHREAD_FTD || OPENTHREAD_MTD
+            default 3
+            range 1 10
+
+        config OPENTHREAD_ADDRESS_QUERY_RETRY_DELAY
+            int "Initial retry delay for address query (in seconds)."
+            depends on OPENTHREAD_FTD || OPENTHREAD_MTD
+            default 15
+            range 1 120
+
+        config OPENTHREAD_ADDRESS_QUERY_MAX_RETRY_DELAY
+            int "Maximum retry delay for address query (in seconds)."
+            depends on OPENTHREAD_FTD || OPENTHREAD_MTD
+            default 120
+            range OPENTHREAD_ADDRESS_QUERY_RETRY_DELAY 960
+    endmenu
 
 endmenu
diff --git a/components/openthread/private_include/openthread-core-esp32x-ftd-config.h b/components/openthread/private_include/openthread-core-esp32x-ftd-config.h
index b27bc53963..6043159bf3 100644
--- a/components/openthread/private_include/openthread-core-esp32x-ftd-config.h
+++ b/components/openthread/private_include/openthread-core-esp32x-ftd-config.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -590,4 +590,34 @@
 #define OPENTHREAD_CONFIG_RADIO_STATS_ENABLE 1
 #endif
 
+/**
+ * @def OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_TIMEOUT
+ *
+ * The timeout value (in seconds) waiting for a address notification response after sending an address query.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_TIMEOUT
+#define OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_TIMEOUT CONFIG_OPENTHREAD_ADDRESS_QUERY_TIMEOUT
+#endif
+
+/**
+ * @def OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_INITIAL_RETRY_DELAY
+ *
+ * Initial retry delay for address query (in seconds).
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_INITIAL_RETRY_DELAY
+#define OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_INITIAL_RETRY_DELAY CONFIG_OPENTHREAD_ADDRESS_QUERY_RETRY_DELAY
+#endif
+
+/**
+ * @def OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_MAX_RETRY_DELAY
+ *
+ * Maximum retry delay for address query (in seconds).
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_MAX_RETRY_DELAY
+#define OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_MAX_RETRY_DELAY CONFIG_OPENTHREAD_ADDRESS_QUERY_MAX_RETRY_DELAY
+#endif
+
 #define OPENTHREAD_FTD 1
diff --git a/components/openthread/private_include/openthread-core-esp32x-mtd-config.h b/components/openthread/private_include/openthread-core-esp32x-mtd-config.h
index f706d364e2..a008afcca6 100644
--- a/components/openthread/private_include/openthread-core-esp32x-mtd-config.h
+++ b/components/openthread/private_include/openthread-core-esp32x-mtd-config.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -274,4 +274,34 @@
 #define OPENTHREAD_CONFIG_RADIO_STATS_ENABLE 1
 #endif
 
+/**
+ * @def OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_TIMEOUT
+ *
+ * The timeout value (in seconds) waiting for a address notification response after sending an address query.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_TIMEOUT
+#define OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_TIMEOUT CONFIG_OPENTHREAD_ADDRESS_QUERY_TIMEOUT
+#endif
+
+/**
+ * @def OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_INITIAL_RETRY_DELAY
+ *
+ * Initial retry delay for address query (in seconds).
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_INITIAL_RETRY_DELAY
+#define OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_INITIAL_RETRY_DELAY CONFIG_OPENTHREAD_ADDRESS_QUERY_RETRY_DELAY
+#endif
+
+/**
+ * @def OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_MAX_RETRY_DELAY
+ *
+ * Maximum retry delay for address query (in seconds).
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_MAX_RETRY_DELAY
+#define OPENTHREAD_CONFIG_TMF_ADDRESS_QUERY_MAX_RETRY_DELAY CONFIG_OPENTHREAD_ADDRESS_QUERY_MAX_RETRY_DELAY
+#endif
+
 #define OPENTHREAD_MTD 1