diff --git a/etc/cmake/options.cmake b/etc/cmake/options.cmake
index 8e11a53ec..d58e06d45 100644
--- a/etc/cmake/options.cmake
+++ b/etc/cmake/options.cmake
@@ -223,8 +223,6 @@ else()
     message(FATAL_ERROR "Invalid max RCP restoration count: ${OT_RCP_RESTORATION_MAX_COUNT}")
 endif()
 
-option(OT_EXCLUDE_TCPLP_LIB "exclude TCPlp library from build")
-
 if(NOT OT_EXTERNAL_MBEDTLS)
     set(OT_MBEDTLS mbedtls)
     target_compile_definitions(ot-config INTERFACE "OPENTHREAD_CONFIG_ENABLE_BUILTIN_MBEDTLS=1")
@@ -257,3 +255,4 @@ macro(ot_removed_option name error)
 endmacro()
 
 ot_removed_option(OT_MTD_NETDIAG "- Use OT_NETDIAG_CLIENT instead - note that server function is always supported")
+ot_removed_option(OT_EXCLUDE_TCPLP_LIB "- Use OT_TCP instead, OT_EXCLUDE_TCPLP_LIB is deprecated")
diff --git a/examples/README.md b/examples/README.md
index 0c2a59de7..a7d1acd4f 100644
--- a/examples/README.md
+++ b/examples/README.md
@@ -39,7 +39,6 @@ This page lists the available common switches with description. Unless stated ot
 | DUA | OT_DUA | Enables the Domain Unicast Address feature for Thread 1.2. |
 | DYNAMIC_LOG_LEVEL | not implemented | Enables the dynamic log level feature. Enable this switch if OpenThread log level is required to be set at runtime. See [Logging guide](https://openthread.io/guides/build/logs) to learn more. |
 | ECDSA | OT_ECDSA | Enables support for Elliptic Curve Digital Signature Algorithm. Enable this switch if ECDSA digital signature is used by application. |
-| EXCLUDE_TCPLP_LIB | OT_EXCLUDE_TCPLP_LIB | Exclude TCPlp library from the build. |
 | EXTERNAL_HEAP | OT_EXTERNAL_HEAP | Enables support for external heap. Enable this switch if the platform uses its own heap. Make sure to specify the external heap Calloc and Free functions to be used by the OpenThread stack. |
 | FULL_LOGS | OT_FULL_LOGS | Enables all log levels and regions. This switch sets the log level to OT_LOG_LEVEL_DEBG and turns on all region flags. See [Logging guide](https://openthread.io/guides/build/logs) to learn more. |
 | HISTORY_TRACKER | OT_HISTORY_TRACKER | Enables support for History Tracker. |
diff --git a/src/core/ftd.cmake b/src/core/ftd.cmake
index 928a2b4c3..dd6dae2f4 100644
--- a/src/core/ftd.cmake
+++ b/src/core/ftd.cmake
@@ -47,6 +47,4 @@ target_link_libraries(openthread-ftd
         ot-config
 )
 
-if(NOT OT_EXCLUDE_TCPLP_LIB)
-    target_link_libraries(openthread-ftd PRIVATE tcplp-ftd)
-endif()
+target_link_libraries(openthread-ftd PRIVATE tcplp-ftd)
diff --git a/src/core/mtd.cmake b/src/core/mtd.cmake
index 9857a734b..e9b831c24 100644
--- a/src/core/mtd.cmake
+++ b/src/core/mtd.cmake
@@ -47,6 +47,4 @@ target_link_libraries(openthread-mtd
         ot-config
 )
 
-if(NOT OT_EXCLUDE_TCPLP_LIB)
-    target_link_libraries(openthread-mtd PRIVATE tcplp-mtd)
-endif()
+target_link_libraries(openthread-mtd PRIVATE tcplp-mtd)
diff --git a/third_party/CMakeLists.txt b/third_party/CMakeLists.txt
index 7191432b8..d57660fe6 100644
--- a/third_party/CMakeLists.txt
+++ b/third_party/CMakeLists.txt
@@ -30,6 +30,4 @@ if(NOT OT_EXTERNAL_MBEDTLS)
     add_subdirectory(mbedtls)
 endif()
 
-if(NOT OT_EXCLUDE_TCPLP_LIB)
-    add_subdirectory(tcplp)
-endif()
+add_subdirectory(tcplp)