diff --git a/src/lib/spinel/spinel.c b/src/lib/spinel/spinel.c
index 8c32b4a26..35988d4b1 100644
--- a/src/lib/spinel/spinel.c
+++ b/src/lib/spinel/spinel.c
@@ -1418,6 +1418,7 @@ const char *spinel_prop_key_to_cstr(spinel_prop_key_t prop_key)
         {SPINEL_PROP_DNSSD_HOST, "DNSSD_HOST"},
         {SPINEL_PROP_DNSSD_SERVICE, "DNSSD_SERVICE"},
         {SPINEL_PROP_DNSSD_KEY_RECORD, "DNSSD_KEY_RECORD"},
+        {SPINEL_PROP_BORDER_AGENT_MESHCOP_SERVICE_STATE, "BORDER_AGENT_MESHCOP_SERVICE_STATE"},
         {SPINEL_PROP_PARENT_RESPONSE_INFO, "PARENT_RESPONSE_INFO"},
         {SPINEL_PROP_SLAAC_ENABLED, "SLAAC_ENABLED"},
         {SPINEL_PROP_SUPPORTED_RADIO_LINKS, "SUPPORTED_RADIO_LINKS"},
diff --git a/src/lib/spinel/spinel.h b/src/lib/spinel/spinel.h
index 3c2476397..667437bd8 100644
--- a/src/lib/spinel/spinel.h
+++ b/src/lib/spinel/spinel.h
@@ -4884,6 +4884,20 @@ enum
 
     SPINEL_PROP_DNSSD__END = 0x950,
 
+    SPINEL_PROP_BORDER_AGENT__BEGIN = 0x950,
+
+    /// Border Agent MeshCoP service state.
+    /**
+     * Format: `bSD`: Get and Unsolicited notifications.
+     *
+     * `b`: Whether the border agent is running or not.
+     * `S`: The UDP port that is being used by the border agent. If the state is 'Stopped', the port MUST be 0.
+     * `D`: The encoded MeshCoP service TXT data (from Thread side).
+     */
+    SPINEL_PROP_BORDER_AGENT_MESHCOP_SERVICE_STATE = SPINEL_PROP_BORDER_AGENT__BEGIN + 1,
+
+    SPINEL_PROP_BORDER_AGENT__END = 0x970,
+
     SPINEL_PROP_NEST__BEGIN = 0x3BC0,
 
     SPINEL_PROP_NEST_STREAM_MFG = SPINEL_PROP_NEST__BEGIN + 0,
diff --git a/src/ncp/changed_props_set.cpp b/src/ncp/changed_props_set.cpp
index a1afabc1e..6706c8362 100644
--- a/src/ncp/changed_props_set.cpp
+++ b/src/ncp/changed_props_set.cpp
@@ -93,6 +93,9 @@ const ChangedPropsSet::Entry ChangedPropsSet::mSupportedProps[] = {
 #endif
     {SPINEL_PROP_PARENT_RESPONSE_INFO, SPINEL_STATUS_OK, true},
     {SPINEL_PROP_THREAD_MGMT_SET_PENDING_DATASET_TLVS, SPINEL_STATUS_OK, false},
+#if OPENTHREAD_FTD && OPENTHREAD_CONFIG_BORDER_AGENT_ENABLE
+    {SPINEL_PROP_BORDER_AGENT_MESHCOP_SERVICE_STATE, SPINEL_STATUS_OK, false}
+#endif
 };
 
 uint8_t ChangedPropsSet::GetNumEntries(void) const
diff --git a/src/ncp/ncp_base.cpp b/src/ncp/ncp_base.cpp
index b8646c019..e16b1db4c 100644
--- a/src/ncp/ncp_base.cpp
+++ b/src/ncp/ncp_base.cpp
@@ -35,6 +35,7 @@
 #include <stdarg.h>
 #include <stdlib.h>
 
+#include <openthread/border_agent.h>
 #include <openthread/diag.h>
 #include <openthread/icmp6.h>
 #include <openthread/link.h>
@@ -367,6 +368,9 @@ NcpBase::NcpBase(Instance *aInstance)
 #if OPENTHREAD_CONFIG_MLE_PARENT_RESPONSE_CALLBACK_API_ENABLE
     otThreadRegisterParentResponseCallback(mInstance, &NcpBase::HandleParentResponseInfo, static_cast<void *>(this));
 #endif
+#if OPENTHREAD_CONFIG_BORDER_AGENT_ENABLE
+    otBorderAgentSetMeshCoPServiceChangedCallback(mInstance, HandleBorderAgentMeshCoPServiceChanged, this);
+#endif
 #endif // OPENTHREAD_FTD
 #if OPENTHREAD_CONFIG_SRP_CLIENT_ENABLE
     otSrpClientSetCallback(mInstance, HandleSrpClientCallback, this);
diff --git a/src/ncp/ncp_base.hpp b/src/ncp/ncp_base.hpp
index d27908bf9..2e9ec3e89 100644
--- a/src/ncp/ncp_base.hpp
+++ b/src/ncp/ncp_base.hpp
@@ -457,6 +457,12 @@ protected:
     static void HandleParentResponseInfo(otThreadParentResponseInfo *aInfo, void *aContext);
     void        HandleParentResponseInfo(const otThreadParentResponseInfo &aInfo);
 #endif
+
+#if OPENTHREAD_FTD && OPENTHREAD_CONFIG_BORDER_AGENT_ENABLE
+    static void HandleBorderAgentMeshCoPServiceChanged(void *aContext);
+    void        HandleBorderAgentMeshCoPServiceChanged(void);
+#endif
+
 #endif
 
     static void HandleDatagramFromStack(otMessage *aMessage, void *aContext);
diff --git a/src/ncp/ncp_base_dispatcher.cpp b/src/ncp/ncp_base_dispatcher.cpp
index ae6530596..2e72d04b8 100644
--- a/src/ncp/ncp_base_dispatcher.cpp
+++ b/src/ncp/ncp_base_dispatcher.cpp
@@ -227,6 +227,9 @@ NcpBase::PropertyHandler NcpBase::FindGetPropertyHandler(spinel_prop_key_t aKey)
 #if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
         OT_NCP_GET_HANDLER_ENTRY(SPINEL_PROP_SRP_SERVER_AUTO_ENABLE_MODE),
 #endif
+#if OPENTHREAD_FTD && OPENTHREAD_CONFIG_BORDER_AGENT_ENABLE
+        OT_NCP_GET_HANDLER_ENTRY(SPINEL_PROP_BORDER_AGENT_MESHCOP_SERVICE_STATE),
+#endif
 #endif
         OT_NCP_GET_HANDLER_ENTRY(SPINEL_PROP_UNSOL_UPDATE_FILTER),
         OT_NCP_GET_HANDLER_ENTRY(SPINEL_PROP_UNSOL_UPDATE_LIST),
diff --git a/src/ncp/ncp_base_ftd.cpp b/src/ncp/ncp_base_ftd.cpp
index cd1957ccb..f3435989e 100644
--- a/src/ncp/ncp_base_ftd.cpp
+++ b/src/ncp/ncp_base_ftd.cpp
@@ -117,7 +117,7 @@ void NcpBase::HandleParentResponseInfo(const otThreadParentResponseInfo &aInfo)
 exit:
     return;
 }
-#endif
+#endif // OPENTHREAD_CONFIG_MLE_PARENT_RESPONSE_CALLBACK_API_ENABLE
 
 void NcpBase::HandleNeighborTableChanged(otNeighborTableEvent aEvent, const otNeighborTableEntryInfo *aEntry)
 {
@@ -190,6 +190,21 @@ exit:
     }
 }
 
+#if OPENTHREAD_CONFIG_BORDER_AGENT_ENABLE
+
+void NcpBase::HandleBorderAgentMeshCoPServiceChanged(void *aContext)
+{
+    static_cast<NcpBase *>(aContext)->HandleBorderAgentMeshCoPServiceChanged();
+}
+
+void NcpBase::HandleBorderAgentMeshCoPServiceChanged(void)
+{
+    mChangedPropsSet.AddProperty(SPINEL_PROP_BORDER_AGENT_MESHCOP_SERVICE_STATE);
+    mUpdateChangedPropsTask.Post();
+}
+
+#endif // OPENTHREAD_CONFIG_BORDER_AGENT_ENABLE
+
 // ----------------------------------------------------------------------------
 // MARK: Individual Property Handlers
 // ----------------------------------------------------------------------------
@@ -1633,6 +1648,24 @@ exit:
 
 #endif // OPENTHREAD_CONFIG_NCP_DNSSD_ENABLE && OPENTHREAD_CONFIG_PLATFORM_DNSSD_ENABLE
 
+#if OPENTHREAD_CONFIG_BORDER_AGENT_ENABLE
+
+template <> otError NcpBase::HandlePropertyGet<SPINEL_PROP_BORDER_AGENT_MESHCOP_SERVICE_STATE>(void)
+{
+    otError                            error = OT_ERROR_NONE;
+    otBorderAgentMeshCoPServiceTxtData txtData;
+
+    SuccessOrExit(error = otBorderAgentGetMeshCoPServiceTxtData(mInstance, &txtData));
+    SuccessOrExit(error = mEncoder.WriteBool(otBorderAgentIsActive(mInstance)));
+    SuccessOrExit(error = mEncoder.WriteUint16(otBorderAgentGetUdpPort(mInstance)));
+    SuccessOrExit(error = mEncoder.WriteData(txtData.mData, txtData.mLength));
+
+exit:
+    return error;
+}
+
+#endif // OPENTHREAD_CONFIG_BORDER_AGENT_ENABLE
+
 } // namespace Ncp
 } // namespace ot