diff --git a/src/cli/cli_udp.cpp b/src/cli/cli_udp.cpp
index 65e774f59..fba14f1c0 100644
--- a/src/cli/cli_udp.cpp
+++ b/src/cli/cli_udp.cpp
@@ -256,6 +256,8 @@ template <> otError UdpExample::Process<Cmd("send")>(Arg aArgs[])
     otMessageInfo     messageInfo;
     otMessageSettings messageSettings = {mLinkSecurityEnabled, OT_MESSAGE_PRIORITY_NORMAL};
 
+    VerifyOrExit(otUdpIsOpen(GetInstancePtr(), &mSocket), error = OT_ERROR_INVALID_STATE);
+
     ClearAllBytes(messageInfo);
 
     // Possible argument formats: