diff --git a/.github/workflows/simulation-1.2.yml b/.github/workflows/simulation-1.2.yml
index b4842eaa3..536d5632d 100644
--- a/.github/workflows/simulation-1.2.yml
+++ b/.github/workflows/simulation-1.2.yml
@@ -76,15 +76,23 @@ jobs:
         ./script/test prepare_coredump_upload
         ./script/test unit
         ./script/test cert_suite tests/scripts/thread-cert/v1_2_*
-    - name: Copy Shared Libraries
+    - name: Check Crash
       if: ${{ failure() }}
       run: |
-          ./script/test copy_so_lib
+          CRASHED=$(./script/test check_crash | tail -1)
+          [[ $CRASHED -eq "1" ]] && echo "Crashed!" || echo "Not crashed."
+          echo "CRASHED=$CRASHED" >> $GITHUB_ENV
     - uses: actions/upload-artifact@v2
       if: ${{ failure() }}
       with:
         name: thread-1-2-${{ matrix.compiler.c }}-${{ matrix.arch }}-pcaps
         path: "*.pcap"
+    - uses: actions/upload-artifact@v2
+      if: ${{ failure() && env.CRASHED == '1' }}
+      with:
+        name: core-packet-verification-thread-1-2
+        path: |
+          ./ot-core-dump/*
     - name: Generate Coverage
       run: |
         ./script/test generate_coverage "${{ matrix.compiler.gcov }}"
@@ -126,10 +134,12 @@ jobs:
         do
           ./script/test cert_suite ./tests/scripts/thread-cert/v1_2_LowPower*.py
         done
-    - name: Copy Shared Libraries
+    - name: Check Crash
       if: ${{ failure() }}
       run: |
-          ./script/test copy_so_lib
+          CRASHED=$(./script/test check_crash | tail -1)
+          [[ $CRASHED -eq "1" ]] && echo "Crashed!" || echo "Not crashed."
+          echo "CRASHED=$CRASHED" >> $GITHUB_ENV
     - uses: actions/upload-artifact@v2
       if: ${{ failure() }}
       with:
@@ -138,14 +148,11 @@ jobs:
           *.pcap
           *.json
     - uses: actions/upload-artifact@v2
-      if: ${{ failure() }}
+      if: ${{ failure() && env.CRASHED == '1' }}
       with:
         name: core-packet-verification-low-power
         path: |
-          ./build/openthread-simulation-1.2/examples/apps/cli/ot-cli-*
-          ./build/openthread-simulation-1.1/examples/apps/cli/ot-cli-*
           ./ot-core-dump/*
-          ./so-lib/*
     - name: Generate Coverage
       run: |
         ./script/test generate_coverage gcc
@@ -215,20 +222,18 @@ jobs:
         ulimit -c unlimited
         ./script/test prepare_coredump_upload
         OT_OPTIONS=-DOT_READLINE=OFF OT_NODE_TYPE=rcp ./script/test build expect
-    - name: Copy Shared Libraries
+    - name: Check Crash
       if: ${{ failure() }}
       run: |
-          ./script/test copy_so_lib
+          CRASHED=$(./script/test check_crash | tail -1)
+          [[ $CRASHED -eq "1" ]] && echo "Crashed!" || echo "Not crashed."
+          echo "CRASHED=$CRASHED" >> $GITHUB_ENV
     - uses: actions/upload-artifact@v2
-      if: ${{ failure() }}
+      if: ${{ failure() && env.CRASHED == '1' }}
       with:
         name: core-expect-1-2
         path: |
-          ./build/openthread-simulation-1.2/examples/apps/cli/ot-cli-mtd
-          ./build/openthread-simulation-1.2/examples/apps/ncp/ot-rcp
-          ./build/openthread-posix-1.2/src/posix/ot-cli
           ./ot-core-dump/*
-          ./so-lib/*
     - name: Generate Coverage
       run: |
         ./script/test generate_coverage gcc
diff --git a/.github/workflows/simulation.yml b/.github/workflows/simulation.yml
index a7821c4b0..ce943c178 100644
--- a/.github/workflows/simulation.yml
+++ b/.github/workflows/simulation.yml
@@ -296,18 +296,18 @@ jobs:
         ulimit -c unlimited
         ./script/test prepare_coredump_upload
         OT_OPTIONS='-DOT_TIME_SYNC=ON -DOT_FULL_LOGS=ON -DOT_LOG_OUTPUT=PLATFORM_DEFINED' VIRTUAL_TIME=0 ./script/test build expect
-    - name: Copy Shared Libraries
+    - name: Check Crash
       if: ${{ failure() }}
       run: |
-          ./script/test copy_so_lib
+          CRASHED=$(./script/test check_crash | tail -1)
+          [[ $CRASHED -eq "1" ]] && echo "Crashed!" || echo "Not crashed."
+          echo "CRASHED_CLI=$CRASHED" >> $GITHUB_ENV
     - uses: actions/upload-artifact@v2
-      if: ${{ failure() }}
+      if: ${{ failure() && env.CRASHED_CLI == '1' }}
       with:
         name: core-expect-cli
         path: |
-          ./build/openthread-simulation-1.1/examples/apps/cli/ot-cli-ftd
           ./ot-core-dump/*
-          ./so-lib/*
     - name: Generate Coverage
       run: |
         ./script/test generate_coverage gcc
@@ -320,6 +320,18 @@ jobs:
         ulimit -c unlimited
         ./script/test prepare_coredump_upload
         OT_OPTIONS='-DOT_READLINE=OFF -DOT_FULL_LOGS=ON -DOT_LOG_OUTPUT=PLATFORM_DEFINED' VIRTUAL_TIME=0 OT_NODE_TYPE=rcp ./script/test clean build expect
+    - name: Check Crash
+      if: ${{ failure() }}
+      run: |
+          CRASHED=$(./script/test check_crash | tail -1)
+          [[ $CRASHED -eq "1" ]] && echo "Crashed!" || echo "Not crashed."
+          echo "CRASHED_RCP=$CRASHED" >> $GITHUB_ENV
+    - uses: actions/upload-artifact@v2
+      if: ${{ failure() && env.CRASHED_RCP == '1' }}
+      with:
+        name: core-expect-rcp
+        path: |
+          ./ot-core-dump/*
     - name: Generate Coverage
       run: |
         ./script/test generate_coverage gcc
@@ -340,19 +352,18 @@ jobs:
         ulimit -c unlimited
         ./script/test prepare_coredump_upload
         OT_OPTIONS='-DOT_READLINE=OFF -DOT_FULL_LOGS=ON -DOT_LOG_OUTPUT=PLATFORM_DEFINED' OT_NATIVE_IP=1 VIRTUAL_TIME=0 OT_NODE_TYPE=rcp ./script/test clean build expect
-    - name: Copy Shared Libraries
+    - name: Check Crash
       if: ${{ failure() }}
       run: |
-          ./script/test copy_so_lib
+          CRASHED=$(./script/test check_crash | tail -1)
+          [[ $CRASHED -eq "1" ]] && echo "Crashed!" || echo "Not crashed."
+          echo "CRASHED_TUN=$CRASHED" >> $GITHUB_ENV
     - uses: actions/upload-artifact@v2
-      if: ${{ failure() }}
+      if: ${{ failure() && env.CRASHED_TUN == '1' }}
       with:
         name: core-expect-posix
         path: |
-          ./build/openthread-simulation-1.1/examples/apps/ncp/ot-rcp
-          ./build/openthread-posix-1.1/src/posix/ot-cli
           ./ot-core-dump/*
-          ./so-lib/*
     - uses: actions/upload-artifact@v2
       if: ${{ failure() }}
       with:
diff --git a/script/test b/script/test
index 7af8b543a..6700b5f1f 100755
--- a/script/test
+++ b/script/test
@@ -46,6 +46,8 @@ readonly INTER_OP="${INTER_OP:-0}"
 readonly VERBOSE="${VERBOSE:-0}"
 readonly BORDER_ROUTING="${BORDER_ROUTING:-1}"
 
+readonly OT_COREDUMP_DIR="${PWD}/ot-core-dump"
+
 build_simulation()
 {
     local version="$1"
@@ -391,16 +393,47 @@ do_package()
 
 do_prepare_coredump_upload()
 {
-    echo "$PWD/ot-core-dump/corefile-%e-%p-%t" | sudo tee /proc/sys/kernel/core_pattern
-    mkdir -p ot-core-dump
+    echo "$OT_COREDUMP_DIR/corefile-%e-%p-%t" | sudo tee /proc/sys/kernel/core_pattern
+    rm -rf "$OT_COREDUMP_DIR"
+    mkdir -p "$OT_COREDUMP_DIR"
 }
 
 do_copy_so_lib()
 {
-    mkdir -p so-lib
-    cp /lib/x86_64-linux-gnu/libgcc_s.so.1 ./so-lib
-    cp /lib/x86_64-linux-gnu/libc.so.6 ./so-lib
-    cp /lib64/ld-linux-x86-64.so.2 ./so-lib
+    mkdir -p "$OT_COREDUMP_DIR/so-lib"
+    cp /lib/x86_64-linux-gnu/libgcc_s.so.1 "$OT_COREDUMP_DIR/so-lib"
+    cp /lib/x86_64-linux-gnu/libc.so.6 "$OT_COREDUMP_DIR/so-lib"
+    cp /lib64/ld-linux-x86-64.so.2 "$OT_COREDUMP_DIR/so-lib"
+}
+
+do_check_crash()
+{
+    shopt -s nullglob
+
+    # Scan core dumps and collect binaries which crashed
+    declare -A bin_list=([dummy]='')
+    for f in "$OT_COREDUMP_DIR"/core*; do
+        bin=$(file "$f" | grep -E -o "execfn: '(.*')," | sed -r "s/execfn: '(.*)',/\1/")
+        bin_list[$bin]=''
+    done
+
+    for key in "${!bin_list[@]}"; do
+        if [ "$key" != "dummy" ]; then
+            # Add postfix for binaries to avoid conflicts caused by different Thread version
+            postfix=""
+            if [[ $key =~ openthread-(simulation|posix)-([0-9]\.[0-9]) ]]; then
+                postfix="-$(echo "$key" | sed -r "s/.*openthread-(simulation|posix)-([0-9]\.[0-9]).*/\2/")"
+            fi
+            bin_name=$(basename "$key")
+            cp "$key" "$OT_COREDUMP_DIR"/"$bin_name""$postfix"
+        fi
+    done
+
+    # echo 1 and copy so libs if crash found, echo 0 otherwise
+    [[ ${#bin_list[@]} -gt 1 ]] && (
+        echo 1
+        do_copy_so_lib
+    ) || echo 0
 }
 
 do_generate_coverage()
@@ -554,8 +587,8 @@ main()
             prepare_coredump_upload)
                 do_prepare_coredump_upload
                 ;;
-            copy_so_lib)
-                do_copy_so_lib
+            check_crash)
+                do_check_crash
                 ;;
             generate_coverage)
                 shift