diff --git a/src/core/common/message.cpp b/src/core/common/message.cpp
index 1b25109c5..07cfd1612 100644
--- a/src/core/common/message.cpp
+++ b/src/core/common/message.cpp
@@ -660,7 +660,13 @@ uint16_t Message::ReadBytes(const OffsetRange &aOffsetRange, void *aBuf) const
 
 Error Message::Read(uint16_t aOffset, void *aBuf, uint16_t aLength) const
 {
-    return (ReadBytes(aOffset, aBuf, aLength) == aLength) ? kErrorNone : kErrorParse;
+    Error error = kErrorNone;
+
+    VerifyOrExit(aOffset + aLength <= GetLength(), error = kErrorParse);
+    ReadBytes(aOffset, aBuf, aLength);
+
+exit:
+    return error;
 }
 
 Error Message::Read(const OffsetRange &aOffsetRange, void *aBuf, uint16_t aLength) const
@@ -668,7 +674,7 @@ Error Message::Read(const OffsetRange &aOffsetRange, void *aBuf, uint16_t aLengt
     Error error = kErrorNone;
 
     VerifyOrExit(aOffsetRange.Contains(aLength), error = kErrorParse);
-    VerifyOrExit(ReadBytes(aOffsetRange.GetOffset(), aBuf, aLength) == aLength, error = kErrorParse);
+    error = Read(aOffsetRange.GetOffset(), aBuf, aLength);
 
 exit:
     return error;
diff --git a/src/core/common/message.hpp b/src/core/common/message.hpp
index 64d1307b4..d53aa2a5c 100644
--- a/src/core/common/message.hpp
+++ b/src/core/common/message.hpp
@@ -762,6 +762,12 @@ public:
     /**
      * Reads bytes from the message.
      *
+     * The provided buffer @p aBuf MUST contain at least @p aLength bytes.
+     *
+     * If there are fewer bytes available in the message than the requested @p aLength, the available bytes are read
+     * and copied into @p aBuf. This method returns the actual number of bytes successfully read from the message and
+     * written into @p aBuf.
+     *
      * @param[in]  aOffset  Byte offset within the message to begin reading.
      * @param[out] aBuf     A pointer to a data buffer to copy the read bytes into.
      * @param[in]  aLength  Number of bytes to read.
@@ -774,6 +780,10 @@ public:
     /**
      * Reads bytes from the message.
      *
+     * If there are fewer bytes available in the message than the provided length in @p aOffsetRange, the available
+     * bytes are read and copied into @p aBuf. This method returns the actual number of bytes successfully read from
+     * the message and written into @p aBuf.
+     *
      * @param[in]  aOffsetRange  The offset range in the message to read bytes from.
      * @param[out] aBuf          A pointer to a data buffer to copy the read bytes into.
      *
@@ -785,9 +795,6 @@ public:
     /**
      * Reads a given number of bytes from the message.
      *
-     * If there are fewer bytes available in the message than the requested read length, the available bytes will be
-     * read and copied into @p aBuf. In this case `kErrorParse` will be returned.
-     *
      * @param[in]  aOffset  Byte offset within the message to begin reading.
      * @param[out] aBuf     A pointer to a data buffer to copy the read bytes into.
      * @param[in]  aLength  Number of bytes to read.
@@ -801,9 +808,6 @@ public:
     /**
      * Reads a given number of bytes from the message.
      *
-     * If there are fewer bytes available in the message or @p aOffsetRange than the requested @p aLength, the
-     * available bytes are read and copied into @p aBuf. In this case `kErrorParse` will be returned.
-     *
      * @param[in]  aOffsetRange  The offset range in the message to read from.
      * @param[out] aBuf          A pointer to a data buffer to copy the read bytes into.
      * @param[in]  aLength       Number of bytes to read.
@@ -817,10 +821,6 @@ public:
     /**
      * Reads an object from the message.
      *
-     * If there are fewer bytes available in the message than the requested object size, the available bytes will be
-     * read and copied into @p aObject (@p aObject will be read partially). In this case `kErrorParse` will
-     * be returned.
-     *
      * @tparam     ObjectType   The object type to read from the message.
      *
      * @param[in]  aOffset      Byte offset within the message to begin reading.
@@ -840,10 +840,6 @@ public:
     /**
      * Reads an object from the message.
      *
-     * If there are fewer bytes available in the message or @p aOffsetRange than the requested object size, the
-     * available bytes will be read and copied into @p aObject (@p aObject will be read partially). In this case
-     * `kErrorParse` will be returned.
-     *
      * @tparam     ObjectType   The object type to read from the message.
      *
      * @param[in]  aOffsetRange  The offset range in the message to read from.
diff --git a/tests/unit/test_message.cpp b/tests/unit/test_message.cpp
index ac1320095..666548cc7 100644
--- a/tests/unit/test_message.cpp
+++ b/tests/unit/test_message.cpp
@@ -157,6 +157,32 @@ void TestMessage(void)
             VerifyOrQuit(!message->CompareBytes(offset, readBuffer, length));
             VerifyOrQuit(message->CompareBytes(offset, readBuffer, readLength));
         }
+
+        // Verify `Read()` behavior when requested read length goes beyond available bytes in the message.
+
+        for (uint16_t length = kMaxSize - offset + 1; length <= kMaxSize + 1; length++)
+        {
+            Error error;
+
+            memset(readBuffer, 0, sizeof(readBuffer));
+
+            error = message->Read(offset, readBuffer, length);
+
+            if (length < kMaxSize - offset)
+            {
+                uint16_t readLength = kMaxSize - offset;
+
+                SuccessOrQuit(error);
+                VerifyOrQuit(memcmp(readBuffer, &writeBuffer[offset], readLength) == 0);
+                VerifyOrQuit(memcmp(&readBuffer[readLength], zeroBuffer, kMaxSize - readLength) == 0,
+                             "read after length");
+            }
+            else
+            {
+                VerifyOrQuit(error == kErrorParse);
+                VerifyOrQuit(memcmp(readBuffer, zeroBuffer, sizeof(readBuffer)) == 0, "Read() updated buffer on error");
+            }
+        }
     }
 
     VerifyOrQuit(message->GetLength() == kMaxSize);