diff --git a/etc/cmake/options.cmake b/etc/cmake/options.cmake
index 92a516a90..90ce3e27a 100644
--- a/etc/cmake/options.cmake
+++ b/etc/cmake/options.cmake
@@ -261,6 +261,7 @@ ot_option(OT_UPTIME OPENTHREAD_CONFIG_UPTIME_ENABLE "uptime")
 ot_option(OT_VERHOEFF_CHECKSUM OPENTHREAD_CONFIG_VERHOEFF_CHECKSUM_ENABLE "verhoeff checksum")
 ot_option(OT_WAKEUP_COORDINATOR OPENTHREAD_CONFIG_WAKEUP_COORDINATOR_ENABLE "wake-up coordinator")
 ot_option(OT_WAKEUP_END_DEVICE OPENTHREAD_CONFIG_WAKEUP_END_DEVICE_ENABLE "wake-up end device")
+ot_option(OT_SPINEL_CP_RESET_FAIL_CALLBACK_ENABLE OPENTHREAD_SPINEL_CONFIG_COPROCESSOR_RESET_FAILURE_CALLBACK_ENABLE "CP reset failure callback")
 
 option(OT_DOC "build OpenThread documentation")
 message(STATUS "- - - - - - - - - - - - - - - - ")
diff --git a/script/check-posix-build-cmake b/script/check-posix-build-cmake
index 63f67c683..965da3f22 100755
--- a/script/check-posix-build-cmake
+++ b/script/check-posix-build-cmake
@@ -76,7 +76,7 @@ main()
     fi
 
     reset_source
-    build -DOT_POSIX_RCP_VENDOR_BUS=ON "$@"
+    build -DOT_POSIX_RCP_VENDOR_BUS=ON -DOT_SPINEL_CP_RESET_FAIL_CALLBACK_ENABLE=ON "$@"
 }
 
 main "$@"
diff --git a/src/lib/spinel/openthread-spinel-config.h b/src/lib/spinel/openthread-spinel-config.h
index 632fcfc42..fb99a63be 100644
--- a/src/lib/spinel/openthread-spinel-config.h
+++ b/src/lib/spinel/openthread-spinel-config.h
@@ -163,4 +163,13 @@
 #define OPENTHREAD_SPINEL_CONFIG_RCP_TX_WAIT_TIME_SECS 5
 #endif
 
+/**
+ * @def OPENTHREAD_SPINEL_CONFIG_COPROCESSOR_RESET_FAILURE_CALLBACK_ENABLE
+ *
+ * Enables Co-processor reset failure callback in Spinel driver
+ */
+#ifndef OPENTHREAD_SPINEL_CONFIG_COPROCESSOR_RESET_FAILURE_CALLBACK_ENABLE
+#define OPENTHREAD_SPINEL_CONFIG_COPROCESSOR_RESET_FAILURE_CALLBACK_ENABLE 0
+#endif
+
 #endif // OPENTHREAD_SPINEL_CONFIG_H_
diff --git a/src/lib/spinel/spinel_driver.cpp b/src/lib/spinel/spinel_driver.cpp
index d88d55df9..9ef7e87a1 100644
--- a/src/lib/spinel/spinel_driver.cpp
+++ b/src/lib/spinel/spinel_driver.cpp
@@ -52,6 +52,10 @@ SpinelDriver::SpinelDriver(void)
     , mSpinelVersionMajor(-1)
     , mSpinelVersionMinor(-1)
     , mIsCoprocessorReady(false)
+#if OPENTHREAD_SPINEL_CONFIG_COPROCESSOR_RESET_FAILURE_CALLBACK_ENABLE
+    , mCoprocessorResetFailureCallback(nullptr)
+    , mCoprocessorResetFailureContext(nullptr)
+#endif
 {
     memset(mVersion, 0, sizeof(mVersion));
 
@@ -119,6 +123,15 @@ exit:
     return error;
 }
 
+#if OPENTHREAD_SPINEL_CONFIG_COPROCESSOR_RESET_FAILURE_CALLBACK_ENABLE
+void SpinelDriver::SetCoprocessorResetFailureCallback(otSpinelDriverCoprocessorResetFailureCallback aCallback,
+                                                      void                                         *aContext)
+{
+    mCoprocessorResetFailureCallback = aCallback;
+    mCoprocessorResetFailureContext  = aContext;
+}
+#endif
+
 void SpinelDriver::ResetCoprocessor(bool aSoftwareReset)
 {
     bool hardwareReset;
@@ -129,7 +142,13 @@ void SpinelDriver::ResetCoprocessor(bool aSoftwareReset)
     VerifyOrExit(!mIsCoprocessorReady, resetDone = true);
 #endif
 
-    mWaitingKey = SPINEL_PROP_LAST_STATUS;
+    // Before resetting the co-processor, mIsCoprocessorReady must be set to false.
+    // Otherwise, in some cases, the host may misinterpret the reset result.
+    // For example, if mIsCoprocessorReady is true when calling ResetCoprocessor,
+    // and the reset fails but the co-processor sends some invalid data, `WaitResponse`
+    // may mistakenly return OT_ERROR_NONE, causing the host to believe the reset succeeded.
+    mIsCoprocessorReady = false;
+    mWaitingKey         = SPINEL_PROP_LAST_STATUS;
 
     if (aSoftwareReset && (SendReset(SPINEL_RESET_STACK) == OT_ERROR_NONE) && (WaitResponse() == OT_ERROR_NONE))
     {
@@ -160,6 +179,12 @@ exit:
     if (!resetDone)
     {
         LogCrit("Failed to reset co-processor!");
+#if OPENTHREAD_SPINEL_CONFIG_COPROCESSOR_RESET_FAILURE_CALLBACK_ENABLE
+        if (mCoprocessorResetFailureCallback)
+        {
+            mCoprocessorResetFailureCallback(mCoprocessorResetFailureContext);
+        }
+#endif
         DieNow(OT_EXIT_FAILURE);
     }
 }
diff --git a/src/lib/spinel/spinel_driver.hpp b/src/lib/spinel/spinel_driver.hpp
index 076106204..8f34c7043 100644
--- a/src/lib/spinel/spinel_driver.hpp
+++ b/src/lib/spinel/spinel_driver.hpp
@@ -215,6 +215,27 @@ public:
      */
     spinel_iid_t GetIid(void) { return mIid; }
 
+#if OPENTHREAD_SPINEL_CONFIG_COPROCESSOR_RESET_FAILURE_CALLBACK_ENABLE
+    /**
+     * A callback type for handling Co-processor reset failure of spinel driver.
+     *
+     * @param[in] aContext  A pointer to the user context.
+     */
+    typedef void (*otSpinelDriverCoprocessorResetFailureCallback)(void *aContext);
+
+    /**
+     * Registers a callback to handle Co-processor reset failure of Spinel driver.
+     *
+     * This function is used to register a callback to handle Co-processor reset failure.
+     * When the Spinel driver fails to reset the Co-processor through both software and
+     * hardware resets, the user can handle the error through the callback(such as OTA).
+     *
+     * @param[in] aCallback The callback.
+     * @param[in] aContext  A pointer to the user context.
+     */
+    void SetCoprocessorResetFailureCallback(otSpinelDriverCoprocessorResetFailureCallback aCallback, void *aContext);
+#endif
+
 private:
     static constexpr uint16_t kMaxSpinelFrame    = SPINEL_FRAME_MAX_SIZE;
     static constexpr uint16_t kVersionStringSize = 128;
@@ -314,6 +335,11 @@ private:
     char mVersion[kVersionStringSize];
 
     Array<unsigned int, kCapsBufferSize> mCoprocessorCaps;
+
+#if OPENTHREAD_SPINEL_CONFIG_COPROCESSOR_RESET_FAILURE_CALLBACK_ENABLE
+    otSpinelDriverCoprocessorResetFailureCallback mCoprocessorResetFailureCallback;
+    void                                         *mCoprocessorResetFailureContext;
+#endif
 };
 
 } // namespace Spinel
diff --git a/src/posix/platform/platform-posix.h b/src/posix/platform/platform-posix.h
index fa16e103a..2f9497809 100644
--- a/src/posix/platform/platform-posix.h
+++ b/src/posix/platform/platform-posix.h
@@ -444,6 +444,13 @@ void platformResolverUpdateFdSet(otSysMainloopContext *aContext);
  */
 void platformResolverProcess(const otSysMainloopContext *aContext);
 
+/**
+ * The callback for coprocessor reset failure.
+ *
+ * @param[in]  aContext  A pointer to the mainloop context.
+ */
+void platformCoprocessorResetFailed(void *aContext);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/src/posix/platform/radio.cpp b/src/posix/platform/radio.cpp
index ea9cd350f..3e98998ef 100644
--- a/src/posix/platform/radio.cpp
+++ b/src/posix/platform/radio.cpp
@@ -73,6 +73,10 @@ Radio::Radio(void)
 {
 }
 
+#if OPENTHREAD_SPINEL_CONFIG_COPROCESSOR_RESET_FAILURE_CALLBACK_ENABLE
+OT_TOOL_WEAK void platformCoprocessorResetFailed(void *) {}
+#endif
+
 void Radio::Init(const char *aUrl)
 {
     bool resetRadio;
@@ -107,6 +111,10 @@ void Radio::Init(const char *aUrl)
     resetRadio             = !mRadioUrl.HasParam("no-reset");
     skipCompatibilityCheck = mRadioUrl.HasParam("skip-rcp-compatibility-check");
 
+#if OPENTHREAD_SPINEL_CONFIG_COPROCESSOR_RESET_FAILURE_CALLBACK_ENABLE
+    GetSpinelDriver().SetCoprocessorResetFailureCallback(platformCoprocessorResetFailed, this);
+#endif
+
     mRadioSpinel.SetCallbacks(callbacks);
     mRadioSpinel.Init(skipCompatibilityCheck, resetRadio, &GetSpinelDriver(),
                       (skipCompatibilityCheck ? 0 : kRequiredRadioCaps), aEnableRcpTimeSync);