diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index fdf1947c6..0b90a4dac 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -4431,6 +4431,7 @@ Mle::Attacher::Attacher(Instance &aInstance)
     , mAddressRegistrationMode(kAppendAllAddresses)
     , mParentRequestCounter(0)
     , mAnnounceChannel(0)
+    , mChildIdRequestsRemaining(kMaxChildIdRequests)
     , mAttachCounter(0)
     , mAnnounceDelay(kAnnounceTimeout)
     , mTimer(aInstance)
@@ -4667,15 +4668,15 @@ bool Mle::Attacher::HasAcceptableParentCandidate(void) const
     bool              hasAcceptableParent = false;
     ParentRequestType parentReqType;
 
-    VerifyOrExit(mParentCandidate.IsStateParentResponse());
-
     switch (mState)
     {
     case kStateAnnounce:
+        VerifyOrExit(mParentCandidate.IsStateParentResponse());
         VerifyOrExit(!HasMoreChannelsToAnnounce());
         break;
 
     case kStateParentRequest:
+        VerifyOrExit(mParentCandidate.IsStateParentResponse());
         SuccessOrAssert(DetermineParentRequestType(parentReqType));
 
         if (parentReqType == kToRouters)
@@ -4689,6 +4690,11 @@ bool Mle::Attacher::HasAcceptableParentCandidate(void) const
 
         break;
 
+    case kStateChildIdRequest:
+        VerifyOrExit(mParentCandidate.IsStateValid());
+        VerifyOrExit(mChildIdRequestsRemaining > 0);
+        break;
+
     default:
         ExitNow();
     }
@@ -4732,7 +4738,8 @@ void Mle::Attacher::HandleTimer(void)
     if (HasAcceptableParentCandidate() && (SendChildIdRequest() == kErrorNone))
     {
         SetState(kStateChildIdRequest);
-        delay = kChildIdResponseTimeout;
+        mChildIdRequestsRemaining--;
+        delay = Random::NonCrypto::AddJitter(kChildIdResponseTimeout, kChildIdResponseJitter);
         ExitNow();
     }
 
@@ -4750,6 +4757,7 @@ void Mle::Attacher::HandleTimer(void)
         mParentCandidate.SetState(Neighbor::kStateInvalid);
         mReceivedResponseFromParent = false;
         mParentRequestCounter       = 0;
+        mChildIdRequestsRemaining   = kMaxChildIdRequests;
         Get<MeshForwarder>().SetRxOnWhenIdle(true);
 
         OT_FALL_THROUGH;
diff --git a/src/core/thread/mle.hpp b/src/core/thread/mle.hpp
index d46372156..c957e02fb 100644
--- a/src/core/thread/mle.hpp
+++ b/src/core/thread/mle.hpp
@@ -1264,6 +1264,7 @@ private:
     static constexpr uint32_t kParentRequestReedTimeout      = 1250; // Wait timer after tx of Parent Req to REEDs
     static constexpr uint32_t kParentRequestDuplicateTimeout = 700;  // Min time to detect duplicate Parent Req rx
     static constexpr uint32_t kChildIdResponseTimeout        = 1250; // Wait time to receive Child ID Response
+    static constexpr uint32_t kChildIdResponseJitter         = kChildIdResponseTimeout * 1 / 10; // Jitter 10%
     static constexpr uint32_t kAttachStartJitter             = 50;   // Max jitter time added to start of attach
     static constexpr uint32_t kAnnounceProcessTimeout        = 250;  // Delay after Announce rx before processing
     static constexpr uint32_t kAnnounceTimeout               = 1400; // Total timeout for sending Announce messages
@@ -1941,6 +1942,8 @@ private:
             kReattachModePending, // Reattach using stored Pending Dataset
         };
 
+        static constexpr uint8_t kMaxChildIdRequests = 3;
+
         void     SetState(State aState);
         uint32_t GetStartDelay(void) const;
         bool     HasAcceptableParentCandidate(void) const;
@@ -1975,6 +1978,7 @@ private:
         AddressRegistrationMode mAddressRegistrationMode;
         uint8_t                 mParentRequestCounter;
         uint8_t                 mAnnounceChannel;
+        uint8_t                 mChildIdRequestsRemaining;
         uint16_t                mAttachCounter;
         uint16_t                mAnnounceDelay;
         TxChallenge             mParentRequestChallenge;