diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index 54133ae99..89a242a08 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -3294,7 +3294,14 @@ void Mle::DelayedSender::ScheduleDiscoveryResponse(const Ip6::Address          &
                                                    const DiscoveryResponseInfo &aInfo,
                                                    uint32_t                     aDelay)
 {
+    RemoveMatchingSchedules(kTypeDiscoveryResponse, aDestination);
+
+    VerifyOrExit(CountMatchingSchedules(kTypeDiscoveryResponse) < kMaxScheduledDiscoveryResponse);
+
     AddSchedule(kTypeDiscoveryResponse, aDestination, aDelay, &aInfo, sizeof(aInfo));
+
+exit:
+    return;
 }
 
 #endif // OPENTHREAD_FTD
@@ -3490,6 +3497,24 @@ void Mle::DelayedSender::RemoveMatchingSchedules(MessageType aMessageType, const
     }
 }
 
+uint32_t Mle::DelayedSender::CountMatchingSchedules(MessageType aMessageType) const
+{
+    uint32_t     count = 0;
+    Ip6::Address unspecifiedAddr;
+
+    unspecifiedAddr.Clear();
+
+    for (const Schedule &schedule : mSchedules)
+    {
+        if (Match(schedule, aMessageType, unspecifiedAddr))
+        {
+            count++;
+        }
+    }
+
+    return count;
+}
+
 #if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_INFO)
 void Mle::DelayedSender::LogRemove(const Schedule &aSchedule)
 {
diff --git a/src/core/thread/mle.hpp b/src/core/thread/mle.hpp
index 0340ba3fb..088cd2c1c 100644
--- a/src/core/thread/mle.hpp
+++ b/src/core/thread/mle.hpp
@@ -1347,6 +1347,7 @@ private:
     static constexpr uint8_t  kRouterDowngradeThreshold      = 23;
     static constexpr uint8_t  kRouterUpgradeThreshold        = 16;
     static constexpr uint16_t kDiscoveryMaxJitter            = 250; // Max jitter delay Discovery Responses (in msec).
+    static constexpr uint32_t kMaxScheduledDiscoveryResponse = 16;  // Rate-limit Discovery response.
     static constexpr uint16_t kUnsolicitedDataResponseJitter = 500; // Max delay for unsol Data Response (in msec).
     static constexpr uint8_t  kLeaderDowngradeExtraDelay     = 10;  // Extra delay to downgrade leader (in sec).
     static constexpr uint8_t  kDefaultLeaderWeight           = 64;
@@ -1776,15 +1777,16 @@ private:
             MessageType  mMessageType;
         };
 
-        void AddSchedule(MessageType         aMessageType,
-                         const Ip6::Address &aDestination,
-                         uint32_t            aDelay,
-                         const void         *aInfo,
-                         uint16_t            aInfoSize);
-        void Execute(const Schedule &aSchedule);
-        bool HasMatchingSchedule(MessageType aMessageType, const Ip6::Address &aDestination) const;
-        void RemoveMatchingSchedules(MessageType aMessageType, const Ip6::Address &aDestination);
-        void LogRemove(const Schedule &aSchedule);
+        void     AddSchedule(MessageType         aMessageType,
+                             const Ip6::Address &aDestination,
+                             uint32_t            aDelay,
+                             const void         *aInfo,
+                             uint16_t            aInfoSize);
+        void     Execute(const Schedule &aSchedule);
+        bool     HasMatchingSchedule(MessageType aMessageType, const Ip6::Address &aDestination) const;
+        void     RemoveMatchingSchedules(MessageType aMessageType, const Ip6::Address &aDestination);
+        uint32_t CountMatchingSchedules(MessageType aMessageType) const;
+        void     LogRemove(const Schedule &aSchedule);
 
         static bool Match(const Schedule &aSchedule, MessageType aMessageType, const Ip6::Address &aDestination);