diff --git a/src/core/border_router/routing_manager.cpp b/src/core/border_router/routing_manager.cpp
index 01bcf2bd4..4dfa0fcd3 100644
--- a/src/core/border_router/routing_manager.cpp
+++ b/src/core/border_router/routing_manager.cpp
@@ -828,128 +828,76 @@ Error RoutingManager::SendRouterSolicitation(void)
     return mInfraIf.Send(packet, destAddress);
 }
 
-// This method sends Router Advertisement messages to advertise on-link prefix and route for OMR prefix.
-// @param[in]  aNewOmrPrefixes   An array of the new OMR prefixes to be advertised.
-//                               Empty array means we should stop advertising OMR prefixes.
 void RoutingManager::SendRouterAdvertisement(const OmrPrefixArray &aNewOmrPrefixes)
 {
-    uint8_t  buffer[kMaxRouterAdvMessageLength];
-    uint16_t bufferLength = 0;
+    uint8_t                      buffer[kMaxRouterAdvMessageLength];
+    Ip6::Nd::RouterAdvertMessage raMsg(mRouterAdvertHeader, buffer);
 
-    static_assert(sizeof(mRouterAdvMessage) <= sizeof(buffer), "RA buffer too small");
-    memcpy(buffer, &mRouterAdvMessage, sizeof(mRouterAdvMessage));
-    bufferLength += sizeof(mRouterAdvMessage);
+    // Append PIO for local on-link prefix. Ensure it is either being
+    // advertised or deprecated.
 
-    if (mIsAdvertisingLocalOnLinkPrefix)
+    if (mIsAdvertisingLocalOnLinkPrefix || mOnLinkPrefixDeprecateTimer.IsRunning())
     {
-        Ip6::Nd::PrefixInfoOption *pio;
+        uint32_t validLifetime     = kDefaultOnLinkPrefixLifetime;
+        uint32_t preferredLifetime = kDefaultOnLinkPrefixLifetime;
 
-        OT_ASSERT(bufferLength + sizeof(Ip6::Nd::PrefixInfoOption) <= sizeof(buffer));
-
-        pio = reinterpret_cast<Ip6::Nd::PrefixInfoOption *>(buffer + bufferLength);
-
-        pio->Init();
-        pio->SetOnLinkFlag();
-        pio->SetAutoAddrConfigFlag();
-        pio->SetValidLifetime(kDefaultOnLinkPrefixLifetime);
-        pio->SetPreferredLifetime(kDefaultOnLinkPrefixLifetime);
-        pio->SetPrefix(mLocalOnLinkPrefix);
-
-        bufferLength += pio->GetSize();
-
-        LogInfo("Send on-link prefix %s in PIO (preferred lifetime = %u seconds, valid lifetime = %u seconds)",
-                mLocalOnLinkPrefix.ToString().AsCString(), pio->GetPreferredLifetime(), pio->GetValidLifetime());
-
-        mTimeAdvertisedOnLinkPrefix = TimerMilli::GetNow();
-    }
-    else if (mOnLinkPrefixDeprecateTimer.IsRunning())
-    {
-        Ip6::Nd::PrefixInfoOption *pio;
-
-        OT_ASSERT(bufferLength + sizeof(Ip6::Nd::PrefixInfoOption) <= sizeof(buffer));
-
-        pio = reinterpret_cast<Ip6::Nd::PrefixInfoOption *>(buffer + bufferLength);
-
-        pio->Init();
-        pio->SetOnLinkFlag();
-        pio->SetAutoAddrConfigFlag();
-        pio->SetValidLifetime(TimeMilli::MsecToSec(mOnLinkPrefixDeprecateTimer.GetFireTime() - TimerMilli::GetNow()));
-
-        // Set zero preferred lifetime to immediately deprecate the advertised on-link prefix.
-        pio->SetPreferredLifetime(0);
-        pio->SetPrefix(mLocalOnLinkPrefix);
-
-        bufferLength += pio->GetSize();
-
-        LogInfo("Send on-link prefix %s in PIO (preferred lifetime = %u seconds, valid lifetime = %u seconds)",
-                mLocalOnLinkPrefix.ToString().AsCString(), pio->GetPreferredLifetime(), pio->GetValidLifetime());
-    }
-
-    // Invalidate the advertised OMR prefixes if they are no longer in the new OMR prefix array.
-
-    for (const OmrPrefix &advertisedOmrPrefix : mAdvertisedOmrPrefixes)
-    {
-        if (!aNewOmrPrefixes.ContainsMatching(advertisedOmrPrefix.GetPrefix()))
+        if (mOnLinkPrefixDeprecateTimer.IsRunning())
         {
-            Ip6::Nd::RouteInfoOption *rio;
+            validLifetime     = TimeMilli::MsecToSec(mOnLinkPrefixDeprecateTimer.GetFireTime() - TimerMilli::GetNow());
+            preferredLifetime = 0;
+        }
 
-            OT_ASSERT(bufferLength +
-                          Ip6::Nd::RouteInfoOption::OptionSizeForPrefix(advertisedOmrPrefix.GetPrefix().GetLength()) <=
-                      sizeof(buffer));
+        SuccessOrAssert(raMsg.AppendPrefixInfoOption(mLocalOnLinkPrefix, validLifetime, preferredLifetime));
 
-            rio = reinterpret_cast<Ip6::Nd::RouteInfoOption *>(buffer + bufferLength);
+        if (mIsAdvertisingLocalOnLinkPrefix)
+        {
+            mTimeAdvertisedOnLinkPrefix = TimerMilli::GetNow();
+        }
 
-            // Set zero route lifetime to immediately invalidate the advertised OMR prefix.
-            rio->Init();
-            rio->SetRouteLifetime(0);
-            rio->SetPrefix(advertisedOmrPrefix.GetPrefix());
+        LogInfo("RouterAdvert: Added PIO for %s (valid=%u, preferred=%u)", mLocalOnLinkPrefix.ToString().AsCString(),
+                validLifetime, preferredLifetime);
+    }
 
-            bufferLength += rio->GetSize();
+    // Invalidate previously advertised OMR prefixes if they are no
+    // longer in the new OMR prefix array.
 
-            LogInfo("Stop advertising OMR prefix %s on %s", advertisedOmrPrefix.ToString().AsCString(),
-                    mInfraIf.ToString().AsCString());
+    for (const OmrPrefix &omrPrefix : mAdvertisedOmrPrefixes)
+    {
+        if (!aNewOmrPrefixes.ContainsMatching(omrPrefix.GetPrefix()))
+        {
+            SuccessOrAssert(
+                raMsg.AppendRouteInfoOption(omrPrefix.GetPrefix(), /* aRouteLifetime */ 0, omrPrefix.GetPreference()));
+
+            LogInfo("RouterAdvert: Added RIO for %s (lifetime=0)", omrPrefix.ToString().AsCString());
         }
     }
 
-    for (const OmrPrefix &newOmrPrefix : aNewOmrPrefixes)
+    for (const OmrPrefix &omrPrefix : aNewOmrPrefixes)
     {
-        Ip6::Nd::RouteInfoOption *rio;
+        SuccessOrAssert(
+            raMsg.AppendRouteInfoOption(omrPrefix.GetPrefix(), kDefaultOmrPrefixLifetime, omrPrefix.GetPreference()));
 
-        OT_ASSERT(bufferLength + Ip6::Nd::RouteInfoOption::OptionSizeForPrefix(newOmrPrefix.GetPrefix().GetLength()) <=
-                  sizeof(buffer));
-
-        rio = reinterpret_cast<Ip6::Nd::RouteInfoOption *>(buffer + bufferLength);
-
-        rio->Init();
-        rio->SetRouteLifetime(kDefaultOmrPrefixLifetime);
-        rio->SetPreference(newOmrPrefix.GetPreference());
-        rio->SetPrefix(newOmrPrefix.GetPrefix());
-
-        bufferLength += rio->GetSize();
-
-        LogInfo("Send OMR prefix %s in RIO (valid lifetime = %u seconds)", newOmrPrefix.ToString().AsCString(),
+        LogInfo("RouterAdvert: Added RIO for %s (lifetime=%u)", omrPrefix.ToString().AsCString(),
                 kDefaultOmrPrefixLifetime);
     }
 
-    // Send the message only when there are options.
-    if (bufferLength > sizeof(mRouterAdvMessage))
+    if (raMsg.ContainsAnyOptions())
     {
-        Error                error;
-        Ip6::Address         destAddress;
-        InfraIf::Icmp6Packet packet;
+        Error        error;
+        Ip6::Address destAddress;
 
         ++mRouterAdvertisementCount;
 
-        packet.Init(buffer, bufferLength);
         destAddress.SetToLinkLocalAllNodesMulticast();
 
-        error = mInfraIf.Send(packet, destAddress);
+        error = mInfraIf.Send(raMsg.GetAsPacket(), destAddress);
 
         if (error == kErrorNone)
         {
             mLastRouterAdvertisementSendTime = TimerMilli::GetNow();
             LogInfo("Sent Router Advertisement on %s", mInfraIf.ToString().AsCString());
-            DumpDebg("[BR-CERT] direction=send | type=RA |", buffer, bufferLength);
+            DumpDebg("[BR-CERT] direction=send | type=RA |", raMsg.GetAsPacket().GetBytes(),
+                     raMsg.GetAsPacket().GetLength());
         }
         else
         {
@@ -1052,7 +1000,7 @@ void RoutingManager::HandleRouterSolicitTimer(void)
         // Invalidate the learned RA message if it is not refreshed during Router Solicitation.
         if (mTimeRouterAdvMessageLastUpdate <= mTimeRouterSolicitStart)
         {
-            UpdateRouterAdvMessage(/* aRouterAdvMessage */ nullptr);
+            UpdateRouterAdvertHeader(/* aRouterAdvertMessage */ nullptr);
         }
 
         mRouterSolicitCount = 0;
@@ -1105,51 +1053,30 @@ void RoutingManager::HandleRouterSolicit(const InfraIf::Icmp6Packet &aPacket, co
 
 void RoutingManager::HandleRouterAdvertisement(const InfraIf::Icmp6Packet &aPacket, const Ip6::Address &aSrcAddress)
 {
-    OT_ASSERT(mIsRunning);
     OT_UNUSED_VARIABLE(aSrcAddress);
 
-    bool                             needReevaluate = false;
-    const uint8_t *                  optionsBegin;
-    uint16_t                         optionsLength;
-    const Ip6::Nd::Option *          option;
-    const Ip6::Nd::RouterAdvMessage *routerAdvMessage;
+    bool                         needReevaluate = false;
+    Ip6::Nd::RouterAdvertMessage routerAdvMessage(aPacket);
 
-    VerifyOrExit(aPacket.GetLength() >= sizeof(Ip6::Nd::RouterAdvMessage));
+    OT_ASSERT(mIsRunning);
+
+    VerifyOrExit(routerAdvMessage.IsValid());
 
     LogInfo("Received Router Advertisement from %s on %s", aSrcAddress.ToString().AsCString(),
             mInfraIf.ToString().AsCString());
     DumpDebg("[BR-CERT] direction=recv | type=RA |", aPacket.GetBytes(), aPacket.GetLength());
 
-    routerAdvMessage = reinterpret_cast<const Ip6::Nd::RouterAdvMessage *>(aPacket.GetBytes());
-    optionsBegin     = aPacket.GetBytes() + sizeof(Ip6::Nd::RouterAdvMessage);
-    optionsLength    = aPacket.GetLength() - sizeof(Ip6::Nd::RouterAdvMessage);
-
-    option = nullptr;
-    while ((option = Ip6::Nd::Option::GetNextOption(option, optionsBegin, optionsLength)) != nullptr)
+    for (const Ip6::Nd::Option &option : routerAdvMessage)
     {
-        switch (option->GetType())
+        switch (option.GetType())
         {
-        case Ip6::Nd::Option::Type::kPrefixInfo:
-        {
-            const Ip6::Nd::PrefixInfoOption *pio = static_cast<const Ip6::Nd::PrefixInfoOption *>(option);
+        case Ip6::Nd::Option::kTypePrefixInfo:
+            needReevaluate |= UpdateDiscoveredOnLinkPrefix(static_cast<const Ip6::Nd::PrefixInfoOption &>(option));
+            break;
 
-            if (pio->IsValid())
-            {
-                needReevaluate |= UpdateDiscoveredOnLinkPrefix(*pio);
-            }
-        }
-        break;
-
-        case Ip6::Nd::Option::Type::kRouteInfo:
-        {
-            const Ip6::Nd::RouteInfoOption *rio = static_cast<const Ip6::Nd::RouteInfoOption *>(option);
-
-            if (rio->IsValid())
-            {
-                UpdateDiscoveredOmrPrefix(*rio);
-            }
-        }
-        break;
+        case Ip6::Nd::Option::kTypeRouteInfo:
+            UpdateDiscoveredOmrPrefix(static_cast<const Ip6::Nd::RouteInfoOption &>(option));
+            break;
 
         default:
             break;
@@ -1160,7 +1087,7 @@ void RoutingManager::HandleRouterAdvertisement(const InfraIf::Icmp6Packet &aPack
     // initiated from the infra interface.
     if (mInfraIf.HasAddress(aSrcAddress))
     {
-        needReevaluate |= UpdateRouterAdvMessage(routerAdvMessage);
+        needReevaluate |= UpdateRouterAdvertHeader(&routerAdvMessage);
     }
 
     if (needReevaluate)
@@ -1182,6 +1109,8 @@ bool RoutingManager::UpdateDiscoveredOnLinkPrefix(const Ip6::Nd::PrefixInfoOptio
     ExternalPrefix  onLinkPrefix;
     ExternalPrefix *existingPrefix = nullptr;
 
+    VerifyOrExit(aPio.IsValid());
+
     aPio.GetPrefix(prefix);
 
     if (!IsValidOnLinkPrefix(aPio))
@@ -1243,6 +1172,8 @@ void RoutingManager::UpdateDiscoveredOmrPrefix(const Ip6::Nd::RouteInfoOption &a
     ExternalPrefix  omrPrefix;
     ExternalPrefix *existingPrefix = nullptr;
 
+    VerifyOrExit(aRio.IsValid());
+
     aRio.GetPrefix(prefix);
 
     if (!IsValidOmrPrefix(prefix))
@@ -1390,35 +1321,36 @@ bool RoutingManager::NetworkDataContainsOmrPrefix(const Ip6::Prefix &aPrefix) co
     return contain;
 }
 
-// Update the `mRouterAdvMessage` with given Router Advertisement message.
-// Returns a boolean which indicates whether there are changes of `mRouterAdvMessage`.
-bool RoutingManager::UpdateRouterAdvMessage(const Ip6::Nd::RouterAdvMessage *aRouterAdvMessage)
+bool RoutingManager::UpdateRouterAdvertHeader(const Ip6::Nd::RouterAdvertMessage *aRouterAdvertMessage)
 {
-    Ip6::Nd::RouterAdvMessage oldRouterAdvMessage;
+    // Updates the `mRouterAdvertHeader` from the given RA message.
+    // Returns a boolean which indicates whether there was any changes
+    // to `mRouterAdvertHeader`.
 
-    oldRouterAdvMessage = mRouterAdvMessage;
+    Ip6::Nd::RouterAdvertMessage::Header oldHeader;
 
+    oldHeader                       = mRouterAdvertHeader;
     mTimeRouterAdvMessageLastUpdate = TimerMilli::GetNow();
 
-    if (aRouterAdvMessage == nullptr || aRouterAdvMessage->GetRouterLifetime() == 0)
+    if (aRouterAdvertMessage == nullptr || aRouterAdvertMessage->GetHeader().GetRouterLifetime() == 0)
     {
-        mRouterAdvMessage.SetToDefault();
+        mRouterAdvertHeader.SetToDefault();
         mLearntRouterAdvMessageFromHost = false;
     }
     else
     {
-        // The checksum is set to zero in `mRouterAdvMessage`
+        // The checksum is set to zero in `mRouterAdvertHeader`
         // which indicates to platform that it needs to do the
         // calculation and update it.
 
-        mRouterAdvMessage = *aRouterAdvMessage;
-        mRouterAdvMessage.SetChecksum(0);
+        mRouterAdvertHeader = aRouterAdvertMessage->GetHeader();
+        mRouterAdvertHeader.SetChecksum(0);
         mLearntRouterAdvMessageFromHost = true;
     }
 
     ResetDiscoveredPrefixStaleTimer();
 
-    return (mRouterAdvMessage != oldRouterAdvMessage);
+    return (mRouterAdvertHeader != oldHeader);
 }
 
 void RoutingManager::ResetDiscoveredPrefixStaleTimer(void)
diff --git a/src/core/border_router/routing_manager.hpp b/src/core/border_router/routing_manager.hpp
index 2e92485c1..f658eaae8 100644
--- a/src/core/border_router/routing_manager.hpp
+++ b/src/core/border_router/routing_manager.hpp
@@ -351,7 +351,7 @@ private:
     void InvalidateDiscoveredPrefixes(void);
     void InvalidateAllDiscoveredPrefixes(void);
     bool NetworkDataContainsOmrPrefix(const Ip6::Prefix &aPrefix) const;
-    bool UpdateRouterAdvMessage(const Ip6::Nd::RouterAdvMessage *aRouterAdvMessage);
+    bool UpdateRouterAdvertHeader(const Ip6::Nd::RouterAdvertMessage *aRouterAdvertMessage);
     void ResetDiscoveredPrefixStaleTimer(void);
 
     static bool IsValidBrUlaPrefix(const Ip6::Prefix &aBrUlaPrefix);
@@ -408,9 +408,9 @@ private:
     // The RA header and parameters for the infra interface.
     // This value is initialized with `RouterAdvMessage::SetToDefault`
     // and updated with RA messages initiated from infra interface.
-    Ip6::Nd::RouterAdvMessage mRouterAdvMessage;
-    TimeMilli                 mTimeRouterAdvMessageLastUpdate;
-    bool                      mLearntRouterAdvMessageFromHost;
+    Ip6::Nd::RouterAdvertMessage::Header mRouterAdvertHeader;
+    TimeMilli                            mTimeRouterAdvMessageLastUpdate;
+    bool                                 mLearntRouterAdvMessageFromHost;
 
     TimerMilli mDiscoveredPrefixInvalidTimer;
     TimerMilli mDiscoveredPrefixStaleTimer;
diff --git a/src/core/net/nd6.cpp b/src/core/net/nd6.cpp
index f9d06bcb8..5b57e1be9 100644
--- a/src/core/net/nd6.cpp
+++ b/src/core/net/nd6.cpp
@@ -28,7 +28,7 @@
 
 /**
  * @file
- *   This file includes implementations for IPv6 Neighbor Discovery (ND).
+ *   This file includes implementations for IPv6 Neighbor Discovery (ND6).
  *
  */
 
@@ -41,29 +41,44 @@ namespace ot {
 namespace Ip6 {
 namespace Nd {
 
-const Option *Option::GetNextOption(const Option *aCurOption, const uint8_t *aBuffer, uint16_t aBufferLength)
+//----------------------------------------------------------------------------------------------------------------------
+// Option::Iterator
+
+Option::Iterator::Iterator(void)
+    : mOption(nullptr)
+    , mEnd(nullptr)
 {
-    const uint8_t *nextOption = nullptr;
-    const uint8_t *bufferEnd  = aBuffer + aBufferLength;
+    // An empty iterator (used to indicate `end()` of list).
+}
 
-    VerifyOrExit(aBuffer != nullptr, nextOption = nullptr);
+Option::Iterator::Iterator(const void *aStart, const void *aEnd)
+    : mOption(nullptr)
+    , mEnd(reinterpret_cast<const Option *>(aEnd))
+{
+    // Note that `Validate()` uses `mEnd` so can only be called after
+    // `mEnd` is set.
 
-    if (aCurOption == nullptr)
-    {
-        nextOption = aBuffer;
-    }
-    else
-    {
-        nextOption = reinterpret_cast<const uint8_t *>(aCurOption) + aCurOption->GetSize();
-    }
+    mOption = Validate(reinterpret_cast<const Option *>(aStart));
+}
 
-    VerifyOrExit(nextOption + sizeof(Option) <= bufferEnd, nextOption = nullptr);
-    VerifyOrExit(reinterpret_cast<const Option *>(nextOption)->GetSize() > 0, nextOption = nullptr);
-    VerifyOrExit(nextOption + reinterpret_cast<const Option *>(nextOption)->GetSize() <= bufferEnd,
-                 nextOption = nullptr);
+const Option *Option::Iterator::Next(const Option *aOption)
+{
+    return reinterpret_cast<const Option *>(reinterpret_cast<const uint8_t *>(aOption) + aOption->GetSize());
+}
 
-exit:
-    return reinterpret_cast<const Option *>(nextOption);
+void Option::Iterator::Advance(void)
+{
+    mOption = (mOption != nullptr) ? Validate(Next(mOption)) : nullptr;
+}
+
+const Option *Option::Iterator::Validate(const Option *aOption) const
+{
+    // Check if `aOption` is well-formed and fits in the range
+    // up to `mEnd`. Returns `aOption` if it is valid, `nullptr`
+    // otherwise.
+
+    return ((aOption != nullptr) && ((aOption + 1) <= mEnd) && aOption->IsValid() && (Next(aOption) <= mEnd)) ? aOption
+                                                                                                              : nullptr;
 }
 
 //----------------------------------------------------------------------------------------------------------------------
@@ -72,7 +87,7 @@ exit:
 void PrefixInfoOption::Init(void)
 {
     Clear();
-    SetType(Type::kPrefixInfo);
+    SetType(kTypePrefixInfo);
     SetSize(sizeof(PrefixInfoOption));
 
     OT_UNUSED_VARIABLE(mReserved2);
@@ -101,7 +116,7 @@ bool PrefixInfoOption::IsValid(void) const
 void RouteInfoOption::Init(void)
 {
     Clear();
-    SetType(Type::kRouteInfo);
+    SetType(kTypeRouteInfo);
 }
 
 void RouteInfoOption::SetPreference(RoutePreference aPreference)
@@ -165,9 +180,9 @@ uint8_t RouteInfoOption::OptionLengthForPrefix(uint8_t aPrefixLength)
 }
 
 //----------------------------------------------------------------------------------------------------------------------
-// RouterAdvMessage
+// RouterAdverMessage::Header
 
-void RouterAdvMessage::SetToDefault(void)
+void RouterAdvertMessage::Header::SetToDefault(void)
 {
     OT_UNUSED_VARIABLE(mCode);
     OT_UNUSED_VARIABLE(mCurHopLimit);
@@ -178,17 +193,81 @@ void RouterAdvMessage::SetToDefault(void)
     mType = Icmp::Header::kTypeRouterAdvert;
 }
 
-RoutePreference RouterAdvMessage::GetDefaultRouterPreference(void) const
+RoutePreference RouterAdvertMessage::Header::GetDefaultRouterPreference(void) const
 {
     return NetworkData::RoutePreferenceFromValue((mFlags & kPreferenceMask) >> kPreferenceOffset);
 }
 
-void RouterAdvMessage::SetDefaultRouterPreference(RoutePreference aPreference)
+void RouterAdvertMessage::Header::SetDefaultRouterPreference(RoutePreference aPreference)
 {
     mFlags &= ~kPreferenceMask;
     mFlags |= (NetworkData::RoutePreferenceToValue(aPreference) << kPreferenceOffset) & kPreferenceMask;
 }
 
+//----------------------------------------------------------------------------------------------------------------------
+// RouterAdverMessage
+
+Option *RouterAdvertMessage::AppendOption(uint16_t aOptionSize)
+{
+    // This method appends an option with a given size to the RA
+    // message by reserving space in the data buffer if there is
+    // room. On success returns pointer to the option, on failure
+    // returns `nullptr`. The returned option needs to be
+    // initialized and populated by the caller.
+
+    Option * option    = nullptr;
+    uint32_t newLength = mData.GetLength();
+
+    newLength += aOptionSize;
+    VerifyOrExit(newLength <= mMaxLength);
+
+    option = reinterpret_cast<Option *>(AsNonConst(GetDataEnd()));
+    mData.SetLength(static_cast<uint16_t>(newLength));
+
+exit:
+    return option;
+}
+
+Error RouterAdvertMessage::AppendPrefixInfoOption(const Prefix &aPrefix,
+                                                  uint32_t      aValidLifetime,
+                                                  uint32_t      aPreferredLifetime)
+{
+    Error             error = kErrorNone;
+    PrefixInfoOption *pio;
+
+    pio = static_cast<PrefixInfoOption *>(AppendOption(sizeof(PrefixInfoOption)));
+    VerifyOrExit(pio != nullptr, error = kErrorNoBufs);
+
+    pio->Init();
+    pio->SetOnLinkFlag();
+    pio->SetAutoAddrConfigFlag();
+    pio->SetValidLifetime(aValidLifetime);
+    pio->SetPreferredLifetime(aPreferredLifetime);
+    pio->SetPrefix(aPrefix);
+
+exit:
+    return error;
+}
+
+Error RouterAdvertMessage::AppendRouteInfoOption(const Prefix &  aPrefix,
+                                                 uint32_t        aRouteLifetime,
+                                                 RoutePreference aPreference)
+{
+    Error            error = kErrorNone;
+    RouteInfoOption *rio;
+
+    rio = static_cast<RouteInfoOption *>(AppendOption(RouteInfoOption::OptionSizeForPrefix(aPrefix.GetLength())));
+    VerifyOrExit(rio != nullptr, error = kErrorNoBufs);
+
+    rio->Init();
+    rio->SetRouteLifetime(aRouteLifetime);
+    rio->SetPreference(aPreference);
+    rio->SetPrefix(aPrefix);
+
+exit:
+    return error;
+}
+
 //----------------------------------------------------------------------------------------------------------------------
 // RouterAdvMessage
 
diff --git a/src/core/net/nd6.hpp b/src/core/net/nd6.hpp
index 61c8d1d9d..0ec6146da 100644
--- a/src/core/net/nd6.hpp
+++ b/src/core/net/nd6.hpp
@@ -70,11 +70,13 @@ typedef NetworkData::RoutePreference RoutePreference; ///< Route Preference
 OT_TOOL_PACKED_BEGIN
 class Option
 {
+    friend class RouterAdvertMessage;
+
 public:
-    enum class Type : uint8_t
+    enum Type : uint8_t
     {
-        kPrefixInfo = 3,  ///< Prefix Information Option.
-        kRouteInfo  = 24, ///< Route Information Option.
+        kTypePrefixInfo = 3,  ///< Prefix Information Option.
+        kTypeRouteInfo  = 24, ///< Route Information Option.
     };
 
     static constexpr uint16_t kLengthUnit = 8; ///< The unit of length in octets.
@@ -85,7 +87,7 @@ public:
      * @returns  The option type.
      *
      */
-    Type GetType(void) const { return mType; }
+    uint8_t GetType(void) const { return mType; }
 
     /**
      * This method sets the option type.
@@ -130,18 +132,6 @@ public:
      */
     uint16_t GetLength(void) const { return mLength; }
 
-    /**
-     * This helper method returns a pointer to the next valid option in the buffer.
-     *
-     * @param[in]  aCurOption     The current option. Use `nullptr` to get the first option.
-     * @param[in]  aBuffer        The buffer within which the options are held.
-     * @param[in]  aBufferLength  The length of the buffer.
-     *
-     * @returns  A pointer to the next option if there are a valid one. Otherwise, `nullptr`.
-     *
-     */
-    static const Option *GetNextOption(const Option *aCurOption, const uint8_t *aBuffer, uint16_t aBufferLength);
-
     /**
      * This method indicates whether or not this option is valid.
      *
@@ -152,7 +142,27 @@ public:
     bool IsValid(void) const { return mLength > 0; }
 
 private:
-    Type    mType;   // Type of the option.
+    class Iterator : public Unequatable<Iterator>
+    {
+    public:
+        Iterator(void);
+        Iterator(const void *aStart, const void *aEnd);
+
+        const Option &operator*(void) { return *mOption; }
+        void          operator++(void) { Advance(); }
+        void          operator++(int) { Advance(); }
+        bool          operator==(const Iterator &aOther) const { return mOption == aOther.mOption; }
+
+    private:
+        static const Option *Next(const Option *aOption);
+        void                 Advance(void);
+        const Option *       Validate(const Option *aOption) const;
+
+        const Option *mOption;
+        const Option *mEnd;
+    };
+
+    uint8_t mType;   // Type of the option.
     uint8_t mLength; // Length of the option in unit of 8 octets, including the `mType` and `mLength` fields.
 } OT_TOOL_PACKED_END;
 
@@ -166,7 +176,7 @@ OT_TOOL_PACKED_BEGIN
 class PrefixInfoOption : public Option, private Clearable<PrefixInfoOption>
 {
 public:
-    static constexpr Type kType = Type::kPrefixInfo; ///< Prefix Information Option Type.
+    static constexpr Type kType = kTypePrefixInfo; ///< Prefix Information Option Type.
 
     /**
      * This method initializes the Prefix Info option with proper type and length and sets all other fields to zero.
@@ -321,8 +331,8 @@ OT_TOOL_PACKED_BEGIN
 class RouteInfoOption : public Option, private Clearable<RouteInfoOption>
 {
 public:
-    static constexpr uint16_t kMinSize = kLengthUnit;      ///< Minimum size (in bytes) of a Route Info Option
-    static constexpr Type     kType    = Type::kRouteInfo; ///< Route Information Option Type.
+    static constexpr uint16_t kMinSize = kLengthUnit;    ///< Minimum size (in bytes) of a Route Info Option
+    static constexpr Type     kType    = kTypeRouteInfo; ///< Route Information Option Type.
 
     /**
      * This method initializes the option setting the type and clearing (setting to zero) all other fields.
@@ -445,101 +455,219 @@ private:
 static_assert(sizeof(RouteInfoOption) == 8, "invalid RouteInfoOption structure");
 
 /**
- * This class implements the Router Advertisement message header.
- *
- * See section 2.2 of RFC 4191 [https://datatracker.ietf.org/doc/html/rfc4191]
+ * This class represents a Router Advertisement message.
  *
  */
-OT_TOOL_PACKED_BEGIN
-class RouterAdvMessage : public Equatable<RouterAdvMessage>, private Clearable<RouterAdvMessage>
+class RouterAdvertMessage
 {
 public:
     /**
-     * This constructor initializes the Router Advertisement message with
-     * zero router lifetime, reachable time and retransmission timer.
+     * This class implements the RA message header.
+     *
+     * See section 2.2 of RFC 4191 [https://datatracker.ietf.org/doc/html/rfc4191]
      *
      */
-    RouterAdvMessage(void) { SetToDefault(); }
+    OT_TOOL_PACKED_BEGIN
+    class Header : public Equatable<Header>, private Clearable<Header>
+    {
+    public:
+        /**
+         * This constructor initializes the Router Advertisement message with
+         * zero router lifetime, reachable time and retransmission timer.
+         *
+         */
+        Header(void) { SetToDefault(); }
+
+        /**
+         * This method sets the RA message to default values.
+         *
+         */
+        void SetToDefault(void);
+
+        /**
+         * This method sets the checksum value.
+         *
+         * @param[in]  aChecksum  The checksum value.
+         *
+         */
+        void SetChecksum(uint16_t aChecksum) { mChecksum = HostSwap16(aChecksum); }
+
+        /**
+         * This method sets the Router Lifetime in seconds.
+         *
+         * @param[in]  aRouterLifetime  The router lifetime in seconds.
+         *
+         */
+        void SetRouterLifetime(uint16_t aRouterLifetime) { mRouterLifetime = HostSwap16(aRouterLifetime); }
+
+        /**
+         * This method gets the Router Lifetime (in seconds).
+         *
+         * Router Lifetime set to zero indicates that the sender is not a default router.
+         *
+         * @returns  The router lifetime in seconds.
+         *
+         */
+        uint16_t GetRouterLifetime(void) const { return HostSwap16(mRouterLifetime); }
+
+        /**
+         * This method sets the default router preference.
+         *
+         * @param[in]  aPreference  The router preference.
+         *
+         */
+        void SetDefaultRouterPreference(RoutePreference aPreference);
+
+        /**
+         * This method gets the default router preference.
+         *
+         * @returns  The router preference.
+         *
+         */
+        RoutePreference GetDefaultRouterPreference(void) const;
+
+    private:
+        // Router Advertisement Message
+        //
+        //   0                   1                   2                   3
+        //   0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1
+        //  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+        //  |     Type      |     Code      |          Checksum             |
+        //  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+        //  | Cur Hop Limit |M|O|H|Prf|Resvd|       Router Lifetime         |
+        //  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+        //  |                         Reachable Time                        |
+        //  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+        //  |                          Retrans Timer                        |
+        //  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+        //  |   Options ...
+        //  +-+-+-+-+-+-+-+-+-+-+-+-
+
+        static constexpr uint8_t kPreferenceOffset = 3;
+        static constexpr uint8_t kPreferenceMask   = 3 << kPreferenceOffset;
+
+        uint8_t  mType;
+        uint8_t  mCode;
+        uint16_t mChecksum;
+        uint8_t  mCurHopLimit;
+        uint8_t  mFlags;
+        uint16_t mRouterLifetime;
+        uint32_t mReachableTime;
+        uint32_t mRetransTimer;
+    } OT_TOOL_PACKED_END;
+
+    static_assert(sizeof(Header) == 16, "Invalid RA `Header`");
+
+    typedef Data<kWithUint16Length> Icmp6Packet; ///< A data buffer containing an ICMPv6 packet.
 
     /**
-     * This method sets the RA message to default values.
+     * This constructor initializes the RA message from a received packet data buffer.
+     *
+     * @param[in] aPacket   A received packet data.
      *
      */
-    void SetToDefault(void);
+    explicit RouterAdvertMessage(const Icmp6Packet &aPacket)
+        : mData(aPacket)
+        , mMaxLength(0)
+    {
+    }
 
     /**
-     * This method sets the checksum value.
+     * This template constructor initializes the RA message with a given header using a given buffer to store the RA
+     * message.
      *
-     * @param[in]  aChecksum  The checksum value.
+     * @tparam kBufferSize   The size of the buffer used to store the RA message.
+     *
+     * @param[in] aHeader    The RA message header.
+     * @param[in] aBuffer    The data buffer to store the RA message in.
      *
      */
-    void SetChecksum(uint16_t aChecksum) { mChecksum = HostSwap16(aChecksum); }
+    template <uint16_t kBufferSize>
+    RouterAdvertMessage(const Header &aHeader, uint8_t (&aBuffer)[kBufferSize])
+        : mMaxLength(kBufferSize)
+    {
+        static_assert(kBufferSize >= sizeof(Header), "Buffer for RA msg is too small");
+
+        memcpy(aBuffer, &aHeader, sizeof(Header));
+        mData.Init(aBuffer, sizeof(Header));
+    }
 
     /**
-     * This method sets the Router Lifetime in seconds.
+     * This method gets the RA message as an `Icmp6Packet`.
      *
-     * @param[in]  aRouterLifetime  The router lifetime in seconds.
+     * @returns The RA message as an `Icmp6Packet`.
      *
      */
-    void SetRouterLifetime(uint16_t aRouterLifetime) { mRouterLifetime = HostSwap16(aRouterLifetime); }
+    const Icmp6Packet &GetAsPacket(void) const { return mData; }
 
     /**
-     * This method gets the Router Lifetime (in seconds).
+     * This method indicates whether or not the RA message is valid.
      *
-     * Router Lifetime set to zero indicates that the sender is not a default router.
-     *
-     * @returns  The router lifetime in seconds.
+     * @retval TRUE   If the RA message is valid.
+     * @retval FALSE  If the RA message is not valid.
      *
      */
-    uint16_t GetRouterLifetime(void) const { return HostSwap16(mRouterLifetime); }
+    bool IsValid(void) const { return (mData.GetBytes() != nullptr) && (mData.GetLength() >= sizeof(Header)); }
 
     /**
-     * This method sets the default router preference.
+     * This method gets the RA message's header.
      *
-     * @param[in]  aPreference  The router preference.
+     * @returns The RA message's header.
      *
      */
-    void SetDefaultRouterPreference(RoutePreference aPreference);
+    const Header &GetHeader(void) const { return *reinterpret_cast<const Header *>(mData.GetBytes()); }
 
     /**
-     * This method gets the default router preference.
+     * This method appends a Prefix Info Option to the RA message.
      *
-     * @returns  The router preference.
+     * The appended Prefix Info Option will have both on-link (L) and autonomous address-configuration (A) flags set.
+     *
+     * @param[in] aPrefix             The prefix.
+     * @param[in] aValidLifetime      The valid lifetime in seconds.
+     * @param[in] aPreferredLifetime  The preferred lifetime in seconds.
+     *
+     * @retval kErrorNone    Option is appended successfully.
+     * @retval kErrorNoBufs  No more space in the buffer to append the option.
      *
      */
-    RoutePreference GetDefaultRouterPreference(void) const;
+    Error AppendPrefixInfoOption(const Prefix &aPrefix, uint32_t aValidLifetime, uint32_t aPreferredLifetime);
+
+    /**
+     * This method appends a Route Info Option to the RA message.
+     *
+     * @param[in] aPrefix             The prefix.
+     * @param[in] aRouteLifetime      The route lifetime in seconds.
+     * @param[in] aPreference         The route preference.
+     *
+     * @retval kErrorNone    Option is appended successfully.
+     * @retval kErrorNoBufs  No more space in the buffer to append the option.
+     *
+     */
+    Error AppendRouteInfoOption(const Prefix &aPrefix, uint32_t aRouteLifetime, RoutePreference aPreference);
+
+    /**
+     * This method indicates whether or not the RA message contains any options.
+     *
+     * @retval TRUE   If the RA message contains at least one option.
+     * @retval FALSE  If the RA message contains no options.
+     *
+     */
+    bool ContainsAnyOptions(void) const { return (mData.GetLength() > sizeof(Header)); }
+
+    // The following methods are intended to support range-based `for`
+    // loop iteration over `Option`s in the RA message.
+
+    Option::Iterator begin(void) const { return Option::Iterator(GetOptionStart(), GetDataEnd()); }
+    Option::Iterator end(void) const { return Option::Iterator(); }
 
 private:
-    // Router Advertisement Message
-    //
-    //   0                   1                   2                   3
-    //   0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1
-    //  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-    //  |     Type      |     Code      |          Checksum             |
-    //  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-    //  | Cur Hop Limit |M|O|H|Prf|Resvd|       Router Lifetime         |
-    //  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-    //  |                         Reachable Time                        |
-    //  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-    //  |                          Retrans Timer                        |
-    //  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-    //  |   Options ...
-    //  +-+-+-+-+-+-+-+-+-+-+-+-
+    const uint8_t *GetOptionStart(void) const { return (mData.GetBytes() + sizeof(Header)); }
+    const uint8_t *GetDataEnd(void) const { return mData.GetBytes() + mData.GetLength(); }
+    Option *       AppendOption(uint16_t aOptionSize);
 
-    static constexpr uint8_t kPreferenceOffset = 3;
-    static constexpr uint8_t kPreferenceMask   = 3 << kPreferenceOffset;
-
-    uint8_t  mType;
-    uint8_t  mCode;
-    uint16_t mChecksum;
-    uint8_t  mCurHopLimit;
-    uint8_t  mFlags;
-    uint16_t mRouterLifetime;
-    uint32_t mReachableTime;
-    uint32_t mRetransTimer;
-} OT_TOOL_PACKED_END;
-
-static_assert(sizeof(RouterAdvMessage) == 16, "invalid RouterAdvMessage structure");
+    Data<kWithUint16Length> mData;
+    uint16_t                mMaxLength;
+};
 
 /**
  * This class implements the Router Solicitation message.