diff --git a/src/cli/README.md b/src/cli/README.md
index 11e765232..04d0cdca6 100644
--- a/src/cli/README.md
+++ b/src/cli/README.md
@@ -41,6 +41,7 @@ OpenThread test scripts use the CLI to execute test cases.
 * [macfilter](#macfilter)
 * [masterkey](#masterkey)
 * [mode](#mode)
+* [neighbor](#neighbor-list)
 * [netdataregister](#netdataregister)
 * [networkdiagnostic](#networkdiagnostic-get-addr-type-)
 * [networkidtimeout](#networkidtimeout)
@@ -1091,6 +1092,30 @@ Set the Thread Device Mode value.
 Done
 ```
 
+### neighbor list
+
+List RLOC16 of neighbors.
+
+```bash
+> neighbor list
+0xcc01 0xc800 0xf000
+Done
+```
+
+### neighbor table
+
+Print table of neighbors.
+
+```bash
+> neighbor table
+| Role | RLOC16 | Age | Avg RSSI | Last RSSI |R|S|D|N| Extended MAC     |
++------+--------+-----+----------+-----------+-+-+-+-+------------------+
+|   C  | 0xcc01 |  96 |      -46 |       -46 |1|1|1|1| 1eb9ba8a6522636b |
+|   R  | 0xc800 |   2 |      -29 |       -29 |1|0|1|1| 9a91556102c39ddb |
+|   R  | 0xf000 |   3 |      -28 |       -28 |1|0|1|1| 0ad7ed6beaa6016d |
+Done
+```
+
 ### netdataregister
 
 Register local network data with Thread Leader.
diff --git a/src/cli/cli.cpp b/src/cli/cli.cpp
index 1f980fd2d..5a266fbb6 100644
--- a/src/cli/cli.cpp
+++ b/src/cli/cli.cpp
@@ -162,6 +162,9 @@ const struct Command Interpreter::sCommands[] =
 #endif
     { "masterkey", &Interpreter::ProcessMasterKey },
     { "mode", &Interpreter::ProcessMode },
+#if OPENTHREAD_FTD
+    { "neighbor", &Interpreter::ProcessNeighbor },
+#endif
 #if OPENTHREAD_ENABLE_BORDER_ROUTER
     { "netdataregister", &Interpreter::ProcessNetworkDataRegister },
 #endif
@@ -1407,6 +1410,64 @@ exit:
     AppendResult(error);
 }
 
+#if OPENTHREAD_FTD
+void Interpreter::ProcessNeighbor(int argc, char *argv[])
+{
+    otError error = OT_ERROR_NONE;
+    otNeighborInfo neighborInfo;
+    bool isTable = false;
+    otNeighborInfoIterator iterator = OT_NEIGHBOR_INFO_ITERATOR_INIT;
+
+    VerifyOrExit(argc > 0, error = OT_ERROR_PARSE);
+
+    if (strcmp(argv[0], "list") == 0 || (isTable = (strcmp(argv[0], "table") == 0)))
+    {
+        if (isTable)
+        {
+            mServer->OutputFormat("| Role | RLOC16 | Age | Avg RSSI | Last RSSI |R|S|D|N| Extended MAC     |\r\n");
+            mServer->OutputFormat("+------+--------+-----+----------+-----------+-+-+-+-+------------------+\r\n");
+        }
+
+        while (otThreadGetNextNeighborInfo(mInstance, &iterator, &neighborInfo) == OT_ERROR_NONE)
+        {
+            if (isTable)
+            {
+                mServer->OutputFormat("| %3c  ", neighborInfo.mIsChild ? 'C' : 'R');
+                mServer->OutputFormat("| 0x%04x ", neighborInfo.mRloc16);
+                mServer->OutputFormat("| %3d ", neighborInfo.mAge);
+                mServer->OutputFormat("| %8d ", neighborInfo.mAverageRssi);
+                mServer->OutputFormat("| %9d ", neighborInfo.mLastRssi);
+                mServer->OutputFormat("|%1d", neighborInfo.mRxOnWhenIdle);
+                mServer->OutputFormat("|%1d", neighborInfo.mSecureDataRequest);
+                mServer->OutputFormat("|%1d", neighborInfo.mFullFunction);
+                mServer->OutputFormat("|%1d", neighborInfo.mFullNetworkData);
+                mServer->OutputFormat("| ");
+
+                for (size_t j = 0; j < sizeof(neighborInfo.mExtAddress); j++)
+                {
+                    mServer->OutputFormat("%02x", neighborInfo.mExtAddress.m8[j]);
+                }
+
+                mServer->OutputFormat(" |\r\n");
+            }
+            else
+            {
+                mServer->OutputFormat("0x%04x ", neighborInfo.mRloc16);
+            }
+        }
+
+        mServer->OutputFormat("\r\n");
+    }
+    else
+    {
+        error = OT_ERROR_PARSE;
+    }
+
+exit:
+    AppendResult(error);
+}
+#endif
+
 #if OPENTHREAD_ENABLE_BORDER_ROUTER
 void Interpreter::ProcessNetworkDataRegister(int argc, char *argv[])
 {
diff --git a/src/cli/cli.hpp b/src/cli/cli.hpp
index 7ccb884cc..5a11cdfb0 100644
--- a/src/cli/cli.hpp
+++ b/src/cli/cli.hpp
@@ -252,6 +252,9 @@ private:
     void ProcessLinkQuality(int argc, char *argv[]);
     void ProcessMasterKey(int argc, char *argv[]);
     void ProcessMode(int argc, char *argv[]);
+#if OPENTHREAD_FTD
+    void ProcessNeighbor(int argc, char *argv[]);
+#endif
 #if OPENTHREAD_ENABLE_BORDER_ROUTER
     void ProcessNetworkDataRegister(int argc, char *argv[]);
 #endif