diff --git a/src/cli/cli.cpp b/src/cli/cli.cpp
index 70b5dd1da..66d4c7739 100644
--- a/src/cli/cli.cpp
+++ b/src/cli/cli.cpp
@@ -1536,9 +1536,8 @@ otError Interpreter::ProcessDns(Arg aArgs[])
         {
             const otDnsQueryConfig *defaultConfig = otDnsClientGetDefaultConfig(GetInstancePtr());
 
-            OutputFormat("Server: [");
-            OutputIp6Address(defaultConfig->mServerSockAddr.mAddress);
-            OutputLine("]:%d", defaultConfig->mServerSockAddr.mPort);
+            OutputFormat("Server: ");
+            OutputSockAddrLine(defaultConfig->mServerSockAddr);
             OutputLine("ResponseTimeout: %u ms", defaultConfig->mResponseTimeout);
             OutputLine("MaxTxAttempts: %u", defaultConfig->mMaxTxAttempts);
             OutputLine("RecursionDesired: %s",
diff --git a/src/cli/cli_history.cpp b/src/cli/cli_history.cpp
index 2292e016b..2a8ce8f92 100644
--- a/src/cli/cli_history.cpp
+++ b/src/cli/cli_history.cpp
@@ -542,7 +542,6 @@ void History::OutputRxTxEntryListFormat(const otHistoryTrackerMessageInfo &aInfo
     constexpr uint8_t kIndentSize = 4;
 
     char ageString[OT_HISTORY_TRACKER_ENTRY_AGE_STRING_SIZE];
-    char addrString[OT_IP6_SOCK_ADDR_STRING_SIZE];
 
     otHistoryTrackerEntryAgeToString(aEntryAge, ageString, sizeof(ageString));
 
@@ -561,11 +560,11 @@ void History::OutputRxTxEntryListFormat(const otHistoryTrackerMessageInfo &aInfo
 
     OutputLine(" %s:0x%04x radio:%s", aIsRx ? "from" : "to", aInfo.mNeighborRloc16, RadioTypeToString(aInfo));
 
-    otIp6SockAddrToString(&aInfo.mSource, addrString, sizeof(addrString));
-    OutputLine(kIndentSize, "src:%s", addrString);
+    OutputFormat(kIndentSize, "src:");
+    OutputSockAddrLine(aInfo.mSource);
 
-    otIp6SockAddrToString(&aInfo.mDestination, addrString, sizeof(addrString));
-    OutputLine(kIndentSize, "dst:%s", addrString);
+    OutputFormat(kIndentSize, "dst:");
+    OutputSockAddrLine(aInfo.mDestination);
 }
 
 void History::OutputRxTxEntryTableFormat(const otHistoryTrackerMessageInfo &aInfo, uint32_t aEntryAge, bool aIsRx)
diff --git a/src/cli/cli_output.cpp b/src/cli/cli_output.cpp
index 99a3e6fcf..5fc58d905 100644
--- a/src/cli/cli_output.cpp
+++ b/src/cli/cli_output.cpp
@@ -174,6 +174,21 @@ void Output::OutputIp6PrefixLine(const otIp6NetworkPrefix &aPrefix)
     OutputLine("");
 }
 
+void Output::OutputSockAddr(const otSockAddr &aSockAddr)
+{
+    char string[OT_IP6_SOCK_ADDR_STRING_SIZE];
+
+    otIp6SockAddrToString(&aSockAddr, string, sizeof(string));
+
+    return OutputFormat("%s", string);
+}
+
+void Output::OutputSockAddrLine(const otSockAddr &aSockAddr)
+{
+    OutputSockAddr(aSockAddr);
+    OutputLine("");
+}
+
 void Output::OutputDnsTxtData(const uint8_t *aTxtData, uint16_t aTxtDataLength)
 {
     otDnsTxtEntry         entry;
diff --git a/src/cli/cli_output.hpp b/src/cli/cli_output.hpp
index d0f95a6d8..c2128a3ff 100644
--- a/src/cli/cli_output.hpp
+++ b/src/cli/cli_output.hpp
@@ -239,6 +239,22 @@ public:
      */
     void OutputIp6PrefixLine(const otIp6NetworkPrefix &aPrefix);
 
+    /**
+     * This method outputs an IPv6 socket address to the CLI console.
+     *
+     * @param[in] aSockAddr   A reference to the IPv6 socket address.
+     *
+     */
+    void OutputSockAddr(const otSockAddr &aSockAddr);
+
+    /**
+     * This method outputs an IPv6 socket address to the CLI console and at the end it also outputs newline "\r\n".
+     *
+     * @param[in] aSockAddr   A reference to the IPv6 socket address.
+     *
+     */
+    void OutputSockAddrLine(const otSockAddr &aSockAddr);
+
     /**
      * This method outputs DNS TXT data to the CLI console.
      *
@@ -375,6 +391,8 @@ protected:
     void OutputIp6PrefixLine(const otIp6Prefix &aPrefix) { mOutput.OutputIp6PrefixLine(aPrefix); }
     void OutputIp6Prefix(const otIp6NetworkPrefix &aPrefix) { mOutput.OutputIp6Prefix(aPrefix); }
     void OutputIp6PrefixLine(const otIp6NetworkPrefix &aPrefix) { mOutput.OutputIp6PrefixLine(aPrefix); }
+    void OutputSockAddr(const otSockAddr &aSockAddr) { mOutput.OutputSockAddr(aSockAddr); }
+    void OutputSockAddrLine(const otSockAddr &aSockAddr) { mOutput.OutputSockAddrLine(aSockAddr); }
     void OutputDnsTxtData(const uint8_t *aTxtData, uint16_t aTxtDataLength)
     {
         mOutput.OutputDnsTxtData(aTxtData, aTxtDataLength);
diff --git a/src/cli/cli_srp_client.cpp b/src/cli/cli_srp_client.cpp
index 980e743ca..ea54a6264 100644
--- a/src/cli/cli_srp_client.cpp
+++ b/src/cli/cli_srp_client.cpp
@@ -285,10 +285,7 @@ otError SrpClient::ProcessServer(Arg aArgs[])
 
     if (aArgs[0].IsEmpty())
     {
-        char string[OT_IP6_SOCK_ADDR_STRING_SIZE];
-
-        otIp6SockAddrToString(serverSockAddr, string, sizeof(string));
-        OutputLine(string);
+        OutputSockAddrLine(*serverSockAddr);
         ExitNow();
     }
 
diff --git a/src/cli/cli_tcp.cpp b/src/cli/cli_tcp.cpp
index d16e63aca..d7802afb6 100644
--- a/src/cli/cli_tcp.cpp
+++ b/src/cli/cli_tcp.cpp
@@ -475,7 +475,7 @@ void TcpExample::HandleTcpDisconnected(otTcpEndpoint *aEndpoint, otTcpDisconnect
     mEndpointConnected = false;
     mSendBusy          = false;
 
-    // Mark the benchmark as inactive if the connction was disconnected.
+    // Mark the benchmark as inactive if the connection was disconnected.
     if (mBenchmarkBytesTotal != 0)
     {
         mBenchmarkBytesTotal = 0;
@@ -491,9 +491,9 @@ otTcpIncomingConnectionAction TcpExample::HandleTcpAcceptReady(otTcpListener *
 
     if (mEndpointConnected)
     {
-        OutputFormat("TCP: Ignoring incoming connection request from [");
-        OutputIp6Address(aPeer->mAddress);
-        OutputLine("]:%u (active socket is busy)", static_cast<unsigned int>(aPeer->mPort));
+        OutputFormat("TCP: Ignoring incoming connection request from ");
+        OutputSockAddr(*aPeer);
+        OutputLine(" (active socket is busy)");
 
         return OT_TCP_INCOMING_CONNECTION_ACTION_DEFER;
     }
@@ -507,9 +507,8 @@ void TcpExample::HandleTcpAcceptDone(otTcpListener *aListener, otTcpEndpoint *aE
     OT_UNUSED_VARIABLE(aListener);
     OT_UNUSED_VARIABLE(aEndpoint);
 
-    OutputFormat("Accepted connection from [");
-    OutputIp6Address(aPeer->mAddress);
-    OutputLine("]:%u", static_cast<unsigned int>(aPeer->mPort));
+    OutputFormat("Accepted connection from ");
+    OutputSockAddrLine(*aPeer);
 }
 
 } // namespace Cli