diff --git a/src/core/border_router/routing_manager.cpp b/src/core/border_router/routing_manager.cpp
index f606bfc2b..c05edc0a1 100644
--- a/src/core/border_router/routing_manager.cpp
+++ b/src/core/border_router/routing_manager.cpp
@@ -73,9 +73,6 @@ RoutingManager::RoutingManager(Instance &aInstance)
     , mDiscoveredPrefixStaleTimer(aInstance, HandleDiscoveredPrefixStaleTimer)
     , mRouterAdvertisementCount(0)
     , mLastRouterAdvertisementSendTime(TimerMilli::GetNow() - kMinDelayBetweenRtrAdvs)
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE
-    , mVicariousRouterSolicitTimer(aInstance, HandleVicariousRouterSolicitTimer)
-#endif
     , mRouterSolicitTimer(aInstance, HandleRouterSolicitTimer)
     , mRouterSolicitCount(0)
     , mRoutingPolicyTimer(aInstance, HandleRoutingPolicyTimer)
@@ -292,9 +289,6 @@ void RoutingManager::Stop(void)
 
     mRouterAdvertisementCount = 0;
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE
-    mVicariousRouterSolicitTimer.Stop();
-#endif
     mRouterSolicitTimer.Stop();
     mRouterSolicitCount = 0;
 
@@ -787,10 +781,6 @@ void RoutingManager::StartRouterSolicitationDelay(void)
 
     OT_ASSERT(mRouterSolicitCount == 0);
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE
-    mVicariousRouterSolicitTimer.Stop();
-#endif
-
     static_assert(kMaxRtrSolicitationDelay > 0, "invalid maximum Router Solicitation delay");
     randomDelay = Random::NonCrypto::GetUint32InRange(0, Time::SecToMsec(kMaxRtrSolicitationDelay));
 
@@ -991,27 +981,6 @@ bool RoutingManager::IsValidOnLinkPrefix(const Ip6::Prefix &aOnLinkPrefix)
     return !aOnLinkPrefix.IsLinkLocal() && !aOnLinkPrefix.IsMulticast();
 }
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE
-void RoutingManager::HandleVicariousRouterSolicitTimer(Timer &aTimer)
-{
-    aTimer.Get<RoutingManager>().HandleVicariousRouterSolicitTimer();
-}
-
-void RoutingManager::HandleVicariousRouterSolicitTimer(void)
-{
-    LogInfo("Vicarious router solicitation time out");
-
-    for (const ExternalPrefix &prefix : mDiscoveredPrefixes)
-    {
-        if (prefix.mTimeLastUpdate <= mTimeVicariousRouterSolicitStart)
-        {
-            StartRouterSolicitationDelay();
-            break;
-        }
-    }
-}
-#endif
-
 void RoutingManager::HandleRouterSolicitTimer(Timer &aTimer)
 {
     aTimer.Get<RoutingManager>().HandleRouterSolicitTimer();
@@ -1118,14 +1087,6 @@ void RoutingManager::HandleRouterSolicit(const InfraIf::Icmp6Packet &aPacket, co
     LogInfo("Received Router Solicitation from %s on %s", aSrcAddress.ToString().AsCString(),
             mInfraIf.ToString().AsCString());
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE
-    if (!mVicariousRouterSolicitTimer.IsRunning())
-    {
-        mTimeVicariousRouterSolicitStart = TimerMilli::GetNow();
-        mVicariousRouterSolicitTimer.Start(Time::SecToMsec(kVicariousSolicitationTime));
-    }
-#endif
-
     // Schedule routing policy evaluation with random jitter to respond with Router Advertisement.
     StartRoutingPolicyEvaluationJitter(kRaReplyJitter);
 }
diff --git a/src/core/border_router/routing_manager.hpp b/src/core/border_router/routing_manager.hpp
index 02c68de5c..2ec9e6828 100644
--- a/src/core/border_router/routing_manager.hpp
+++ b/src/core/border_router/routing_manager.hpp
@@ -237,13 +237,6 @@ private:
     // The value is chosen in range of [`kMaxRtrAdvInterval` upper bound (1800s), `kDefaultOnLinkPrefixLifetime`].
     static constexpr uint32_t kRtrAdvStaleTime = 1800;
 
-    // The VICARIOUS_SOLICIT_TIME in seconds. The Routing Manager will consider
-    // the discovered prefixes invalid if they are not refreshed after receiving
-    // a Router Solicitation message.
-    // The value is equal to Router Solicitation timeout.
-    static constexpr uint32_t kVicariousSolicitationTime =
-        kRtrSolicitationInterval * (kMaxRtrSolicitations - 1) + kMaxRtrSolicitationDelay;
-
     static_assert(kMinRtrAdvInterval <= 3 * kMaxRtrAdvInterval / 4, "invalid RA intervals");
     static_assert(kDefaultOmrPrefixLifetime >= kMaxRtrAdvInterval, "invalid default OMR prefix lifetime");
     static_assert(kDefaultOnLinkPrefixLifetime >= kMaxRtrAdvInterval, "invalid default on-link prefix lifetime");
@@ -327,10 +320,6 @@ private:
     void  SendRouterAdvertisement(const OmrPrefixArray &aNewOmrPrefixes, const Ip6::Prefix *aNewOnLinkPrefix);
     bool  IsRouterSolicitationInProgress(void) const;
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE
-    static void HandleVicariousRouterSolicitTimer(Timer &aTimer);
-    void        HandleVicariousRouterSolicitTimer(void);
-#endif
     static void HandleRouterSolicitTimer(Timer &aTimer);
     void        HandleRouterSolicitTimer(void);
     static void HandleDiscoveredPrefixInvalidTimer(Timer &aTimer);
@@ -416,10 +405,6 @@ private:
     uint32_t  mRouterAdvertisementCount;
     TimeMilli mLastRouterAdvertisementSendTime;
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE
-    TimerMilli mVicariousRouterSolicitTimer;
-    TimeMilli  mTimeVicariousRouterSolicitStart;
-#endif
     TimerMilli mRouterSolicitTimer;
     TimeMilli  mTimeRouterSolicitStart;
     uint8_t    mRouterSolicitCount;
diff --git a/src/core/config/border_router.h b/src/core/config/border_router.h
index 5e45b387a..f3959d50d 100644
--- a/src/core/config/border_router.h
+++ b/src/core/config/border_router.h
@@ -75,16 +75,6 @@
 #define OPENTHREAD_CONFIG_BORDER_ROUTING_MAX_DISCOVERED_PREFIXES 8
 #endif
 
-/**
- * @def OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE
- *
- * Define to 1 to enable Border Routing Vicarious Router Solicitation.
- *
- */
-#ifndef OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE
-#define OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE 1
-#endif
-
 /**
  * @def OPENTHREAD_CONFIG_BORDER_ROUTING_NAT64_ENABLE
  *
diff --git a/src/core/config/openthread-core-config-check.h b/src/core/config/openthread-core-config-check.h
index ed8495aaa..1536ec2ff 100644
--- a/src/core/config/openthread-core-config-check.h
+++ b/src/core/config/openthread-core-config-check.h
@@ -623,4 +623,8 @@
 #error "OPENTHREAD_CONFIG_PLATFORM_CSL_UNCERT was removed and no longer supported"
 #endif
 
+#ifdef OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE
+#error "OPENTHREAD_CONFIG_BORDER_ROUTING_VICARIOUS_RS_ENABLE was removed and no longer supported"
+#endif
+
 #endif // OPENTHREAD_CORE_CONFIG_CHECK_H_
diff --git a/tests/scripts/thread-cert/border_router/test_vicarious_router_solicit.py b/tests/scripts/thread-cert/border_router/test_on_link_prefix.py
similarity index 99%
rename from tests/scripts/thread-cert/border_router/test_vicarious_router_solicit.py
rename to tests/scripts/thread-cert/border_router/test_on_link_prefix.py
index 065cdae1b..8d273f1aa 100755
--- a/tests/scripts/thread-cert/border_router/test_vicarious_router_solicit.py
+++ b/tests/scripts/thread-cert/border_router/test_on_link_prefix.py
@@ -34,7 +34,7 @@ import config
 import thread_cert
 
 # Test description:
-#   This test verifies Vicarious Router Solicitation.
+#   This test verifies on-link prefix configuration.
 #
 # Topology:
 #    -------------(eth)----------------------------