diff --git a/components/lwip/port/esp32/netif/openthreadif.c b/components/lwip/port/esp32/netif/openthreadif.c
index 06c7bfe480..b71940948b 100644
--- a/components/lwip/port/esp32/netif/openthreadif.c
+++ b/components/lwip/port/esp32/netif/openthreadif.c
@@ -1,15 +1,19 @@
 /*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 #include <string.h>
 
+#include "freertos/FreeRTOS.h"
 #include "esp_netif.h"
 #include "esp_netif_net_stack.h"
+#include "lwip/err.h"
 #include "lwip/netif.h"
 #include "lwip/pbuf.h"
 #include "netif/openthreadif.h"
+#include "esp_openthread.h"
+#include "esp_openthread_lock.h"
 #include "openthread/error.h"
 #include "openthread/ip6.h"
 #include "openthread/link.h"
@@ -47,7 +51,7 @@ static err_t openthread_output_ip6(struct netif *netif, struct pbuf *p, const st
         pbuf_free(q);
     }
     /* Check error */
-    switch(ret) {
+    switch (ret) {
     case ESP_ERR_NO_MEM:
         return ERR_MEM;
 
@@ -92,6 +96,34 @@ void openthread_netif_input(void *h, void *buffer, size_t len, void *eb)
     /* the pbuf will be free in upper layer, eg: tcpip_input */
 }
 
+static err_t openthread_netif_multicast_handler(struct netif *netif,
+        const ip6_addr_t *group, enum netif_mac_filter_action action)
+{
+    otError error = OT_ERROR_NONE;
+    otIp6Address multicast_addr;
+
+    memcpy(multicast_addr.mFields.m8, group->addr, sizeof(group->addr));
+    esp_openthread_lock_acquire(portMAX_DELAY);
+    if (action == NETIF_ADD_MAC_FILTER) {
+        error = otIp6SubscribeMulticastAddress(esp_openthread_get_instance(), &multicast_addr);
+    } else {
+        error = otIp6UnsubscribeMulticastAddress(esp_openthread_get_instance(), &multicast_addr);
+    }
+    esp_openthread_lock_release();
+    switch (error) {
+    case OT_ERROR_NONE:
+    case OT_ERROR_ALREADY:
+        return ERR_OK;
+    case OT_ERROR_NO_BUFS:
+        return ERR_MEM;
+    case OT_ERROR_INVALID_ARGS:
+        return ERR_ARG;
+    default:
+        return ERR_IF;
+    }
+}
+
+
 err_t openthread_netif_init(struct netif *netif)
 {
     netif->name[0] = 'o';
@@ -102,6 +134,7 @@ err_t openthread_netif_init(struct netif *netif)
     netif->flags = NETIF_FLAG_BROADCAST;
     netif->output = NULL;
     netif->output_ip6 = openthread_output_ip6;
+    netif->mld_mac_filter = openthread_netif_multicast_handler;
     netif->l2_buffer_free_notify = NULL;
     netif_set_link_up(netif);
 
diff --git a/examples/openthread/ot_cli/main/esp_ot_cli.c b/examples/openthread/ot_cli/main/esp_ot_cli.c
index 0d5e321dbe..863664a585 100644
--- a/examples/openthread/ot_cli/main/esp_ot_cli.c
+++ b/examples/openthread/ot_cli/main/esp_ot_cli.c
@@ -1,7 +1,7 @@
 /*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
  *
- * SPDX-License-Identifier: CC0
+ * SPDX-License-Identifier: CC0-1.0
  *
  * OpenThread Command Line Example
  *
@@ -14,6 +14,7 @@
 
 #include <stdio.h>
 #include <unistd.h>
+#include <string.h>
 
 #include "esp_err.h"
 #include "esp_event.h"
@@ -29,7 +30,6 @@
 #include "esp_vfs_eventfd.h"
 #include "driver/uart.h"
 #include "freertos/FreeRTOS.h"
-#include "freertos/portmacro.h"
 #include "freertos/task.h"
 #include "hal/uart_types.h"
 #include "openthread/cli.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 f218535851..384e35ae50 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 +1,7 @@
 /*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
  *
- * SPDX-License-Identifier: CC0
+ * SPDX-License-Identifier: CC0-1.0
  *
  * OpenThread Command Line Example
  *
@@ -27,6 +27,7 @@ static const otCliCommand kCommands[] = {
     {"tcpsockclient", esp_ot_process_tcp_client},
     {"udpsockserver", esp_ot_process_udp_server},
     {"udpsockclient", esp_ot_process_udp_client},
+    {"mcast", esp_ot_process_mcast_group},
     {"iperf", esp_ot_process_iperf}
 };
 
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 39b167f817..002b319760 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 +1,7 @@
 /*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
  *
- * SPDX-License-Identifier: CC0
+ * SPDX-License-Identifier: CC0-1.0
  *
  * OpenThread Command Line Example
  *
@@ -15,8 +15,11 @@
 #include "esp_check.h"
 #include "esp_err.h"
 #include "esp_log.h"
+#include "esp_netif.h"
+#include "esp_openthread_lock.h"
 #include "esp_ot_udp_socket.h"
 #include "lwip/err.h"
+#include "lwip/mld6.h"
 #include "lwip/sockets.h"
 
 #define TAG "ot_socket"
@@ -94,6 +97,7 @@ static void udp_socket_client_task(void *pvParameters)
     esp_err_t ret = ESP_OK;
     struct sockaddr_storage source_addr; // Large enough for both IPv4 or IPv6
     struct sockaddr_in6 dest_addr = { 0 };
+    uint8_t netif_index = esp_netif_get_netif_impl_index(esp_netif_get_handle_from_ifkey("OT_DEF"));
 
     inet6_aton(host_ip, &dest_addr.sin6_addr);
     dest_addr.sin6_family = AF_INET6;
@@ -103,6 +107,8 @@ static void udp_socket_client_task(void *pvParameters)
     ESP_GOTO_ON_FALSE((client_sock >= 0), ESP_OK, exit, TAG, "Unable to create socket: errno %d", errno);
     ESP_LOGI(TAG, "Socket created, sending to %s:%d", host_ip, port);
 
+    setsockopt(client_sock, IPPROTO_IPV6, IPV6_MULTICAST_IF, &netif_index, sizeof(netif_index));
+
     err = sendto(client_sock, payload, strlen(payload), 0, (struct sockaddr *)&dest_addr, sizeof(dest_addr));
     ESP_GOTO_ON_FALSE((err >= 0), ESP_FAIL, exit, TAG, "Error occurred during sending: errno %d", errno);
     ESP_LOGI(TAG, "Message sent");
@@ -135,10 +141,30 @@ void esp_ot_process_udp_server(void *aContext, uint8_t aArgsLength, char *aArgs[
 void esp_ot_process_udp_client(void *aContext, uint8_t aArgsLength, char *aArgs[])
 {
     (void)(aContext);
-    (void)(aArgsLength);
     if (aArgsLength == 0) {
         ESP_LOGE(TAG, "Invalid arguments.");
     } else {
         xTaskCreate(udp_socket_client_task, "ot_udp_socket_client", 4096, aArgs[0], 4, NULL);
     }
 }
+
+void esp_ot_process_mcast_group(void *aContext, uint8_t aArgsLength, char *aArgs[])
+{
+    if (aArgsLength != 2 || (strncmp(aArgs[0], "join", 4) != 0 && strncmp(aArgs[0], "leave", 5) != 0) ) {
+        ESP_LOGE(TAG, "Invalid arguments: mcast [join|leave] group_address");
+        return;
+    }
+
+    ip6_addr_t group;
+    inet6_aton(aArgs[1], &group);
+    struct netif *netif = netif_get_by_index(esp_netif_get_netif_impl_index(esp_netif_get_handle_from_ifkey("OT_DEF")));
+    if (strncmp(aArgs[0], "join", 4) == 0) {
+        if (mld6_joingroup_netif(netif, &group) != ERR_OK) {
+            ESP_LOGE(TAG, "Failed to join group");
+        }
+    } else {
+        if (mld6_leavegroup_netif(netif, &group) != ERR_OK) {
+            ESP_LOGE(TAG, "Failed to leave group");
+        }
+    }
+}
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 97f9945dfd..4678102799 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 +1,7 @@
 /*
- * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
  *
- * SPDX-License-Identifier: CC0
+ * SPDX-License-Identifier: CC0-1.0
  *
  * OpenThread Command Line Example
  *
@@ -14,10 +14,18 @@
 
 #pragma once
 
+#include <stdint.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/**
+ * @brief User command "mcast" process.
+ *
+ */
+void esp_ot_process_mcast_group(void *aContext, uint8_t aArgsLength, char *aArgs[]);
+
 /**
  * @brief User command "udpsockserver" process.
  *