diff --git a/src/cli/README.md b/src/cli/README.md
index 073cca4a0..b378a7a6e 100644
--- a/src/cli/README.md
+++ b/src/cli/README.md
@@ -76,6 +76,7 @@ Done
 * [parentpriority](#parentpriority)
 * [ping](#ping-ipaddr-size-count-interval-hoplimit)
 * [pollperiod](#pollperiod-pollperiod)
+* [preferrouterid](#preferrouterid-routerid)
 * [prefix](#prefix-add-prefix-pvdcsr-prf)
 * [promiscuous](#promiscuous)
 * [releaserouterid](#releaserouterid-routerid)
@@ -1002,6 +1003,14 @@ Set the customized data poll period for sleepy end device (milliseconds >= 10ms)
 Done
 ```
 
+### preferrouterid \<routerid\>
+Prefer a Router ID when solicit router id from Leader.
+
+```bash
+> preferrouterid 16
+Done
+```
+
 ### prefix
 
 Get the prefix list in the local Network Data.
diff --git a/src/cli/cli.cpp b/src/cli/cli.cpp
index cc8879e30..44ea2f0a4 100644
--- a/src/cli/cli.cpp
+++ b/src/cli/cli.cpp
@@ -191,6 +191,7 @@ const struct Command Interpreter::sCommands[] = {
     {"prefix", &Interpreter::ProcessPrefix},
 #endif
 #if OPENTHREAD_FTD
+    {"preferrouterid", &Interpreter::ProcessPreferRouterId},
     {"pskc", &Interpreter::ProcessPskc},
     {"releaserouterid", &Interpreter::ProcessReleaseRouterId},
 #endif
@@ -2480,6 +2481,19 @@ exit:
 #endif // OPENTHREAD_CONFIG_BORDER_ROUTER_ENABLE
 
 #if OPENTHREAD_FTD
+void Interpreter::ProcessPreferRouterId(int argc, char *argv[])
+{
+    otError       error = OT_ERROR_NONE;
+    unsigned long value;
+
+    VerifyOrExit(argc == 1, error = OT_ERROR_INVALID_ARGS);
+    SuccessOrExit(error = ParseUnsignedLong(argv[0], value));
+    error = otThreadSetPreferredRouterId(mInstance, static_cast<uint8_t>(value));
+
+exit:
+    AppendResult(error);
+}
+
 void Interpreter::ProcessReleaseRouterId(int argc, char *argv[])
 {
     otError error = OT_ERROR_NONE;
diff --git a/src/cli/cli.hpp b/src/cli/cli.hpp
index bdf4010d2..37ebf4a0f 100644
--- a/src/cli/cli.hpp
+++ b/src/cli/cli.hpp
@@ -305,6 +305,7 @@ private:
 #endif
     void ProcessPromiscuous(int argc, char *argv[]);
 #if OPENTHREAD_FTD
+    void ProcessPreferRouterId(int argc, char *argv[]);
     void ProcessPskc(int argc, char *argv[]);
     void ProcessReleaseRouterId(int argc, char *argv[]);
 #endif
diff --git a/tests/scripts/thread-cert/node.py b/tests/scripts/thread-cert/node.py
index bc79d09ca..645e432bc 100755
--- a/tests/scripts/thread-cert/node.py
+++ b/tests/scripts/thread-cert/node.py
@@ -525,6 +525,11 @@ class Node:
         self.send_command(cmd)
         self._expect('Done')
 
+    def prefer_router_id(self, router_id):
+        cmd = 'preferrouterid %d' % router_id
+        self.send_command(cmd)
+        self._expect('Done')
+
     def release_router_id(self, router_id):
         cmd = 'releaserouterid %d' % router_id
         self.send_command(cmd)