diff --git a/tests/scripts/thread-cert/border_router/test_manual_address.py b/tests/scripts/thread-cert/border_router/test_manual_address.py
new file mode 100644
index 000000000..327c32b7f
--- /dev/null
+++ b/tests/scripts/thread-cert/border_router/test_manual_address.py
@@ -0,0 +1,99 @@
+#!/usr/bin/env python3
+#
+#  Copyright (c) 2021, The OpenThread Authors.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions are met:
+#  1. Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#  2. Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#  3. Neither the name of the copyright holder nor the
+#     names of its contributors may be used to endorse or promote products
+#     derived from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS'
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+#
+
+import unittest
+import thread_cert
+
+# Test description:
+# The purpose of this test case is to verify that BR can manually configure addresses and comply
+# with the manual address configuration rules.
+#
+# Topology:
+#     BR_1 (Leader)
+#       |
+#       |
+#     ROUTER
+#
+
+BR_1 = 1
+ROUTER = 2
+
+PREFIX = '2002::/64'
+GUA_1 = '2002::a:b:c:d'
+GUA_2 = '2002::a:b:c:e'
+
+
+class ManualAddressConfig(thread_cert.TestCase):
+    USE_MESSAGE_FACTORY = False
+
+    TOPOLOGY = {
+        BR_1: {
+            'name': 'BR_1',
+            'is_otbr': True,
+            'version': '1.2',
+        },
+        ROUTER: {
+            'name': 'ROUTER',
+            'version': '1.2',
+        },
+    }
+
+    def test(self):
+        br1 = self.nodes[BR_1]
+        router = self.nodes[ROUTER]
+
+        br1.start()
+        self.simulator.go(5)
+        self.assertEqual('leader', br1.get_state())
+        self.assertTrue(br1.is_primary_backbone_router)
+
+        router.start()
+        self.simulator.go(5)
+        self.assertEqual('router', router.get_state())
+
+        # Add prefix
+        br1.add_prefix(PREFIX, flags='po', prf='med')
+        br1.register_netdata()
+        self.simulator.go(5)
+
+        # Configure GUA addresses
+        br1.add_ipaddr(GUA_1)
+        router.add_ipaddr(GUA_2)
+
+        # BR_1 sends a ping packet to the GUA_2 address. Router should respond to the ping request.
+        self.assertTrue(br1.ping(GUA_2))
+        self.simulator.go(5)
+
+        # Router sends a ping packet to the GUA_1 address. BR_1 should respond to the ping request.
+        self.assertTrue(router.ping(GUA_1))
+        self.simulator.go(5)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/tests/scripts/thread-cert/config.py b/tests/scripts/thread-cert/config.py
index ed2dd8882..18c8c888e 100755
--- a/tests/scripts/thread-cert/config.py
+++ b/tests/scripts/thread-cert/config.py
@@ -69,6 +69,7 @@ BACKBONE_PREFIX = f'{0x9100 + PORT_OFFSET:04x}::/64'
 BACKBONE_PREFIX_REGEX_PATTERN = f'^{0x9100 + PORT_OFFSET:04x}:'
 BACKBONE_DOCKER_NETWORK_NAME = f'backbone{PORT_OFFSET}'
 BACKBONE_IFNAME = 'eth0'
+THREAD_IFNAME = 'wpan0'
 
 OTBR_DOCKER_IMAGE = os.getenv('OTBR_DOCKER_IMAGE', 'otbr-ot12-backbone-ci')
 OTBR_DOCKER_NAME_PREFIX = f'otbr_{PORT_OFFSET}_'
diff --git a/tests/scripts/thread-cert/node.py b/tests/scripts/thread-cert/node.py
index ae4411df7..b696c5464 100755
--- a/tests/scripts/thread-cert/node.py
+++ b/tests/scripts/thread-cert/node.py
@@ -3245,6 +3245,7 @@ EOF
 
 
 class OtbrNode(LinuxHost, NodeImpl, OtbrDocker):
+    TUN_DEV = config.THREAD_IFNAME
     is_otbr = True
     is_bbr = True  # OTBR is also BBR
     node_type = 'otbr-docker'
@@ -3257,6 +3258,10 @@ class OtbrNode(LinuxHost, NodeImpl, OtbrDocker):
         self.set_log_level(5)
         super().start()
 
+    def add_ipaddr(self, addr):
+        cmd = f'ip -6 addr add {addr}/64 dev {self.TUN_DEV}'
+        self.bash(cmd)
+
 
 class HostNode(LinuxHost, OtbrDocker):
     is_host = True