diff --git a/src/core/net/dns_types.cpp b/src/core/net/dns_types.cpp
index 631051b4e..ebb0524bf 100644
--- a/src/core/net/dns_types.cpp
+++ b/src/core/net/dns_types.cpp
@@ -100,6 +100,51 @@ Error Header::ResponseCodeToError(Response aResponse)
     return error;
 }
 
+Error Name::AppendTo(Message &aMessage) const
+{
+    Error error;
+
+    if (IsEmpty())
+    {
+        error = AppendTerminator(aMessage);
+    }
+    else if (IsFromCString())
+    {
+        error = AppendName(GetAsCString(), aMessage);
+    }
+    else
+    {
+        // Name is from a message. Read labels one by one from
+        // `mMessage` and and append each to the `aMessage`.
+
+        LabelIterator iterator(*mMessage, mOffset);
+
+        while (true)
+        {
+            error = iterator.GetNextLabel();
+
+            switch (error)
+            {
+            case kErrorNone:
+                SuccessOrExit(error = iterator.AppendLabel(aMessage));
+                break;
+
+            case kErrorNotFound:
+                // We reached the end of name successfully.
+                error = AppendTerminator(aMessage);
+
+                OT_FALL_THROUGH;
+
+            default:
+                ExitNow();
+            }
+        }
+    }
+
+exit:
+    return error;
+}
+
 Error Name::AppendLabel(const char *aLabel, Message &aMessage)
 {
     return AppendLabel(aLabel, static_cast<uint8_t>(StringLength(aLabel, kMaxLabelSize)), aMessage);
@@ -545,6 +590,21 @@ bool Name::LabelIterator::CompareLabel(const LabelIterator &aOtherIterator) cons
                                  mLabelLength);
 }
 
+Error Name::LabelIterator::AppendLabel(Message &aMessage) const
+{
+    // This method reads and appends the current label in the iterator
+    // to `aMessage`.
+
+    Error error;
+
+    VerifyOrExit((0 < mLabelLength) && (mLabelLength <= kMaxLabelLength), error = kErrorInvalidArgs);
+    SuccessOrExit(error = aMessage.Append(mLabelLength));
+    error = aMessage.AppendBytesFromMessage(mMessage, mLabelStartOffset, mLabelLength);
+
+exit:
+    return error;
+}
+
 bool Name::IsSubDomainOf(const char *aName, const char *aDomain)
 {
     bool     match        = false;
diff --git a/src/core/net/dns_types.hpp b/src/core/net/dns_types.hpp
index b9d40cb6a..753dc2f46 100644
--- a/src/core/net/dns_types.hpp
+++ b/src/core/net/dns_types.hpp
@@ -655,6 +655,24 @@ public:
         return *mMessage;
     }
 
+    /**
+     * This method encodes and appends the name to a message.
+     *
+     * If the name is empty (not specified), then root "." is appended to @p aMessage. If the name is from a C string
+     * then the string is checked and appended (similar to static `AppendName(const char *aName, Message &)` method).
+     * If the the name is from a message, then it is read from the message and appended to @p aMessage. Note that in
+     * this case independent of whether the name is compressed or not in its original message, the name is appended
+     * as full (uncompressed) in @p aMessage.
+     *
+     * @param[in] aMessage        The message to append to.
+     *
+     * @retval kErrorNone         Successfully encoded and appended the name to @p aMessage.
+     * @retval kErrorInvalidArgs  Name is not valid.
+     * @retval kErrorNoBufs       Insufficient available buffers to grow the message.
+     *
+     */
+    Error AppendTo(Message &aMessage) const;
+
     /**
      * This static method encodes and appends a single name label to a message.
      *
@@ -1021,6 +1039,7 @@ private:
         Error ReadLabel(char *aLabelBuffer, uint8_t &aLabelLength, bool aAllowDotCharInLabel) const;
         bool  CompareLabel(const char *&aName, bool aIsSingleLabel) const;
         bool  CompareLabel(const LabelIterator &aOtherIterator) const;
+        Error AppendLabel(Message &aMessage) const;
 
         const Message &mMessage;          // Message to read labels from.
         uint16_t       mLabelStartOffset; // Offset in `mMessage` to the first char of current label text.
diff --git a/tests/unit/test_dns.cpp b/tests/unit/test_dns.cpp
index 64011e531..da152e8da 100644
--- a/tests/unit/test_dns.cpp
+++ b/tests/unit/test_dns.cpp
@@ -407,6 +407,7 @@ void TestDnsCompressedName(void)
     Instance *   instance;
     MessagePool *messagePool;
     Message *    message;
+    Message *    message2;
     uint16_t     offset;
     uint16_t     name1Offset;
     uint16_t     name2Offset;
@@ -416,6 +417,10 @@ void TestDnsCompressedName(void)
     char         label[kLabelSize];
     uint8_t      labelLength;
     char         name[kNameSize];
+    Dns::Name    dnsName1;
+    Dns::Name    dnsName2;
+    Dns::Name    dnsName3;
+    Dns::Name    dnsName4;
 
     printf("================================================================\n");
     printf("TestDnsCompressedName()\n");
@@ -685,7 +690,44 @@ void TestDnsCompressedName(void)
     VerifyOrQuit(Dns::Name::CompareName(*message, offset, *message, name1Offset) == kErrorNotFound,
                  "Name::CompareName() did not fail with mismatching name");
 
+    printf("----------------------------------------------------------------\n");
+    printf("Append names from one message to another\n");
+
+    VerifyOrQuit((message2 = messagePool->New(Message::kTypeIp6, 0)) != nullptr, "Message::New failed");
+
+    dnsName1.SetFromMessage(*message, name1Offset);
+    dnsName2.SetFromMessage(*message, name2Offset);
+    dnsName3.SetFromMessage(*message, name3Offset);
+    dnsName4.SetFromMessage(*message, name4Offset);
+
+    offset = 0;
+    SuccessOrQuit(dnsName1.AppendTo(*message2), "Name::AppendTo() failed");
+    SuccessOrQuit(dnsName2.AppendTo(*message2), "Name::AppendTo() failed");
+    SuccessOrQuit(dnsName3.AppendTo(*message2), "Name::AppendTo() failed");
+    SuccessOrQuit(dnsName4.AppendTo(*message2), "Name::AppendTo() failed");
+
+    SuccessOrQuit(message2->Read(0, buffer, message2->GetLength()), "Message::Read() failed");
+    DumpBuffer("message2", buffer, message2->GetLength());
+
+    // Now compare the names one by one in `message2`. Note that
+    // `CompareName()` will update `offset` on success.
+
+    VerifyOrQuit(Dns::Name::CompareName(*message2, offset, dnsName1) == kErrorNone, "Incorrect name after AppendTo()");
+    VerifyOrQuit(Dns::Name::CompareName(*message2, offset, dnsName2) == kErrorNone, "Incorrect name after AppendTo()");
+    VerifyOrQuit(Dns::Name::CompareName(*message2, offset, dnsName3) == kErrorNone, "Incorrect name after AppendTo()");
+    VerifyOrQuit(Dns::Name::CompareName(*message2, offset, dnsName4) == kErrorNone, "Incorrect name after AppendTo()");
+
+    offset = 0;
+    SuccessOrQuit(Dns::Name::ReadName(*message2, offset, name, sizeof(name)), "ReadName() failed");
+    printf("- Name1 after `AppendTo()`: \"%s\"\n", name);
+    SuccessOrQuit(Dns::Name::ReadName(*message2, offset, name, sizeof(name)), "ReadName() failed");
+    printf("- Name2 after `AppendTo()`: \"%s\"\n", name);
+    SuccessOrQuit(Dns::Name::ReadName(*message2, offset, name, sizeof(name)), "ReadName() failed");
+    printf("- Name3 after `AppendTo()`: \"%s\"\n", name);
+    // `ReadName()` for name-4 will fail due to first label containing dot char.
+
     message->Free();
+    message2->Free();
     testFreeInstance(instance);
 }