diff --git a/src/core/utils/child_supervision.cpp b/src/core/utils/child_supervision.cpp
index 41541220d..c422cbf13 100644
--- a/src/core/utils/child_supervision.cpp
+++ b/src/core/utils/child_supervision.cpp
@@ -133,7 +133,7 @@ void ChildSupervisor::UpdateOnSend(Child &aChild)
     aChild.ResetSecondsSinceLastSupervision();
 }
 
-void ChildSupervisor::HandleTimer(TimerMilli &aTimer)
+void ChildSupervisor::HandleTimer(Timer &aTimer)
 {
     GetOwner(aTimer).HandleTimer();
 }
@@ -183,7 +183,7 @@ ChildSupervisor &ChildSupervisor::GetOwner(const Context &aContext)
 
 SupervisionListener::SupervisionListener(ThreadNetif &aThreadNetif) :
     ThreadNetifLocator(aThreadNetif),
-    mTimer(aThreadNetif.GetIp6().mTimerMilliScheduler, &SupervisionListener::HandleTimer, this),
+    mTimer(aThreadNetif.GetIp6(), &SupervisionListener::HandleTimer, this),
     mTimeout(0)
 {
     SetTimeout(kDefaultTimeout);
@@ -240,7 +240,7 @@ void SupervisionListener::RestartTimer(void)
     }
 }
 
-void SupervisionListener::HandleTimer(TimerMilli &aTimer)
+void SupervisionListener::HandleTimer(Timer &aTimer)
 {
     GetOwner(aTimer).HandleTimer();
 }
diff --git a/src/core/utils/child_supervision.hpp b/src/core/utils/child_supervision.hpp
index 5bfab2f79..143c267ec 100644
--- a/src/core/utils/child_supervision.hpp
+++ b/src/core/utils/child_supervision.hpp
@@ -156,7 +156,7 @@ private:
     };
 
     void SendMessage(Child &aChild);
-    static void HandleTimer(TimerMilli &aTimer);
+    static void HandleTimer(Timer &aTimer);
     void HandleTimer(void);
     static ChildSupervisor &GetOwner(const Context &aContext);
 
@@ -248,7 +248,7 @@ private:
     };
 
     void RestartTimer(void);
-    static void HandleTimer(TimerMilli &aTimer);
+    static void HandleTimer(Timer &aTimer);
     void HandleTimer(void);
     static SupervisionListener &GetOwner(const Context &aContext);