diff --git a/src/core/thread/mesh_forwarder.cpp b/src/core/thread/mesh_forwarder.cpp
index 124b4685c..c30f677fc 100644
--- a/src/core/thread/mesh_forwarder.cpp
+++ b/src/core/thread/mesh_forwarder.cpp
@@ -1102,9 +1102,12 @@ void MeshForwarder::HandleFragment(const uint8_t *         aFrame,
         message->SetNetworkTimeOffset(aLinkInfo.mNetworkTimeOffset);
 #endif
 
-        // Security Check
         VerifyOrExit(Get<Ip6::Filter>().Accept(*message), error = OT_ERROR_DROP);
 
+#if OPENTHREAD_FTD
+        SendIcmpErrorIfDstUnreach(*message, aMacSource, aMacDest);
+#endif
+
         // Allow re-assembly of only one message at a time on a SED by clearing
         // any remaining fragments in reassembly list upon receiving of a new
         // (secure) first fragment.
@@ -1301,9 +1304,12 @@ void MeshForwarder::HandleLowpanHC(const uint8_t *         aFrame,
     message->SetNetworkTimeOffset(aLinkInfo.mNetworkTimeOffset);
 #endif
 
-    // Security Check
     VerifyOrExit(Get<Ip6::Filter>().Accept(*message), error = OT_ERROR_DROP);
 
+#if OPENTHREAD_FTD
+    SendIcmpErrorIfDstUnreach(*message, aMacSource, aMacDest);
+#endif
+
 exit:
 
     if (error == OT_ERROR_NONE)
diff --git a/src/core/thread/mesh_forwarder.hpp b/src/core/thread/mesh_forwarder.hpp
index efffdcac3..259ee06df 100644
--- a/src/core/thread/mesh_forwarder.hpp
+++ b/src/core/thread/mesh_forwarder.hpp
@@ -336,6 +336,9 @@ private:
         kMessageEvict,           ///< Indicates that the message was evicted.
     };
 
+    void    SendIcmpErrorIfDstUnreach(const Message &     aMessage,
+                                      const Mac::Address &aMacSource,
+                                      const Mac::Address &aMacDest);
     otError CheckReachability(const uint8_t *     aFrame,
                               uint16_t            aFrameLength,
                               const Mac::Address &aMeshSource,
diff --git a/src/core/thread/mesh_forwarder_ftd.cpp b/src/core/thread/mesh_forwarder_ftd.cpp
index f77992c58..e2df50514 100644
--- a/src/core/thread/mesh_forwarder_ftd.cpp
+++ b/src/core/thread/mesh_forwarder_ftd.cpp
@@ -500,11 +500,6 @@ otError MeshForwarder::UpdateIp6RouteFtd(Ip6::Header &ip6Header, Message &aMessa
     }
 
 exit:
-    if (error == OT_ERROR_NO_ROUTE)
-    {
-        SendDestinationUnreachable(mMeshSource, aMessage);
-    }
-
     return error;
 }
 
@@ -521,6 +516,35 @@ otError MeshForwarder::GetIp6Header(const uint8_t *     aFrame,
                                nextHeaderCompressed);
 }
 
+void MeshForwarder::SendIcmpErrorIfDstUnreach(const Message &     aMessage,
+                                              const Mac::Address &aMacSource,
+                                              const Mac::Address &aMacDest)
+{
+    otError     error;
+    Ip6::Header ip6header;
+    Child *     child;
+
+    VerifyOrExit(aMacSource.IsShort() && aMacDest.IsShort(), OT_NOOP);
+
+    child = Get<ChildTable>().FindChild(aMacSource.GetShort(), Child::kInStateAnyExceptInvalid);
+    VerifyOrExit((child == NULL) || child->IsFullThreadDevice(), OT_NOOP);
+
+    aMessage.Read(0, sizeof(ip6header), &ip6header);
+    VerifyOrExit(!ip6header.GetDestination().IsMulticast() &&
+                     Get<NetworkData::Leader>().IsOnMesh(ip6header.GetDestination()),
+                 OT_NOOP);
+
+    error = Get<Mle::MleRouter>().CheckReachability(aMacDest.GetShort(), ip6header);
+
+    if (error == OT_ERROR_NO_ROUTE)
+    {
+        SendDestinationUnreachable(aMacSource.GetShort(), aMessage);
+    }
+
+exit:
+    return;
+}
+
 otError MeshForwarder::CheckReachability(const uint8_t *     aFrame,
                                          uint16_t            aFrameLength,
                                          const Mac::Address &aMeshSource,
diff --git a/src/core/thread/mle_router.hpp b/src/core/thread/mle_router.hpp
index 4578032b6..0f52ad1a9 100644
--- a/src/core/thread/mle_router.hpp
+++ b/src/core/thread/mle_router.hpp
@@ -897,6 +897,11 @@ public:
     static bool IsRouterIdValid(uint8_t aRouterId) { return aRouterId <= kMaxRouterId; }
 
     otError SendChildUpdateRequest(void) { return Mle::SendChildUpdateRequest(); }
+
+    otError CheckReachability(uint16_t aMeshDest, Ip6::Header &aIp6Header)
+    {
+        return Mle::CheckReachability(aMeshDest, aIp6Header);
+    }
 };
 
 #endif // OPENTHREAD_MTD