diff --git a/src/core/thread/dua_manager.cpp b/src/core/thread/dua_manager.cpp
index f0e09e426..d8866663f 100644
--- a/src/core/thread/dua_manager.cpp
+++ b/src/core/thread/dua_manager.cpp
@@ -305,6 +305,19 @@ void DuaManager::HandleNotifierEvents(Events aEvents)
 {
     Mle::MleRouter &mle = Get<Mle::MleRouter>();
 
+#if OPENTHREAD_CONFIG_DUA_ENABLE
+    if (aEvents.Contains(kEventThreadNetdataChanged))
+    {
+        Lowpan::Context context;
+        // Remove a stale DUA address if any.
+        if (Get<ThreadNetif>().HasUnicastAddress(Get<DuaManager>().GetDomainUnicastAddress()) &&
+            (Get<NetworkData::Leader>().GetContext(Get<DuaManager>().GetDomainUnicastAddress(), context) != kErrorNone))
+        {
+            RemoveDomainUnicastAddress();
+        }
+    }
+#endif
+
     VerifyOrExit(mle.IsAttached(), mDelay.mValue = 0);
 
     if (aEvents.Contains(kEventThreadRoleChanged))
diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index 69c898124..5354c6cda 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -4599,10 +4599,9 @@ Error Mle::TxMessage::AppendAddressRegistrationTlv(AddressRegistrationMode aMode
     counter++;
 
 #if OPENTHREAD_CONFIG_DUA_ENABLE
-    if (Get<ThreadNetif>().HasUnicastAddress(Get<DuaManager>().GetDomainUnicastAddress()))
+    if (Get<ThreadNetif>().HasUnicastAddress(Get<DuaManager>().GetDomainUnicastAddress()) &&
+        (Get<NetworkData::Leader>().GetContext(Get<DuaManager>().GetDomainUnicastAddress(), context) == kErrorNone))
     {
-        SuccessOrAssert(Get<NetworkData::Leader>().GetContext(Get<DuaManager>().GetDomainUnicastAddress(), context));
-
         // Prioritize DUA, compressed entry
         entry.SetContextId(context.mContextId);
         entry.SetIid(Get<DuaManager>().GetDomainUnicastAddress().GetIid());