diff --git a/src/cli/cli.cpp b/src/cli/cli.cpp
index 81205ad1b..e229a88dc 100644
--- a/src/cli/cli.cpp
+++ b/src/cli/cli.cpp
@@ -337,7 +337,7 @@ otError Interpreter::ProcessHelp(uint8_t aArgsLength, char *aArgs[])
 
     for (uint8_t i = 0; i < mUserCommandsLength; i++)
     {
-        OutputLine(mUserCommands[i].mName);
+        OutputLine("%s", mUserCommands[i].mName);
     }
 
     return OT_ERROR_NONE;
@@ -584,7 +584,7 @@ otError Interpreter::ProcessDomainName(uint8_t aArgsLength, char *aArgs[])
 
     if (aArgsLength == 0)
     {
-        OutputLine(otThreadGetDomainName(mInstance));
+        OutputLine("%s", otThreadGetDomainName(mInstance));
     }
     else
     {
@@ -2426,7 +2426,7 @@ otError Interpreter::ProcessNetworkName(uint8_t aArgsLength, char *aArgs[])
 
     if (aArgsLength == 0)
     {
-        OutputLine(otThreadGetNetworkName(mInstance));
+        OutputLine("%s", otThreadGetNetworkName(mInstance));
     }
     else
     {
@@ -3042,7 +3042,7 @@ otError Interpreter::ProcessRcp(uint8_t aArgsLength, char *aArgs[])
 
     if (strcmp(aArgs[0], "version") == 0)
     {
-        OutputLine(version);
+        OutputLine("%s", version);
     }
     else
     {
@@ -3774,7 +3774,7 @@ otError Interpreter::ProcessVersion(uint8_t aArgsLength, char *aArgs[])
 
     if (aArgsLength == 0)
     {
-        OutputLine(otGetVersionString());
+        OutputLine("%s", otGetVersionString());
         ExitNow();
     }
 
diff --git a/src/cli/cli_coap.cpp b/src/cli/cli_coap.cpp
index b23e13369..945d809ec 100644
--- a/src/cli/cli_coap.cpp
+++ b/src/cli/cli_coap.cpp
@@ -197,7 +197,7 @@ otError Coap::ProcessResource(uint8_t aArgsLength, char *aArgs[])
     }
     else
     {
-        mInterpreter.OutputLine(mResource.mUriPath != nullptr ? mResource.mUriPath : "");
+        mInterpreter.OutputLine("%s", mResource.mUriPath != nullptr ? mResource.mUriPath : "");
     }
 
 exit:
@@ -251,7 +251,7 @@ otError Coap::ProcessSet(uint8_t aArgsLength, char *aArgs[])
     }
     else
     {
-        mInterpreter.OutputLine(mResourceContent);
+        mInterpreter.OutputLine("%s", mResourceContent);
     }
 
 exit:
diff --git a/src/cli/cli_coap_secure.cpp b/src/cli/cli_coap_secure.cpp
index 4e2eec0ff..0e4535fcb 100644
--- a/src/cli/cli_coap_secure.cpp
+++ b/src/cli/cli_coap_secure.cpp
@@ -130,7 +130,7 @@ otError CoapSecure::ProcessResource(uint8_t aArgsLength, char *aArgs[])
     }
     else
     {
-        mInterpreter.OutputLine(mResource.mUriPath != nullptr ? mResource.mUriPath : "");
+        mInterpreter.OutputLine("%s", mResource.mUriPath != nullptr ? mResource.mUriPath : "");
     }
 
 exit:
@@ -149,7 +149,7 @@ otError CoapSecure::ProcessSet(uint8_t aArgsLength, char *aArgs[])
     }
     else
     {
-        mInterpreter.OutputLine(mResourceContent);
+        mInterpreter.OutputLine("%s", mResourceContent);
     }
 
 exit:
diff --git a/src/cli/cli_udp.cpp b/src/cli/cli_udp.cpp
index ab2d01a8f..b7a22cb92 100644
--- a/src/cli/cli_udp.cpp
+++ b/src/cli/cli_udp.cpp
@@ -327,7 +327,7 @@ void UdpExample::HandleUdpReceive(otMessage *aMessage, const otMessageInfo *aMes
     length      = otMessageRead(aMessage, otMessageGetOffset(aMessage), buf, sizeof(buf) - 1);
     buf[length] = '\0';
 
-    mInterpreter.OutputLine(buf);
+    mInterpreter.OutputLine("%s", buf);
 }
 
 } // namespace Cli