diff --git a/etc/cmake/options.cmake b/etc/cmake/options.cmake
index 45e079dc5..b308283f9 100644
--- a/etc/cmake/options.cmake
+++ b/etc/cmake/options.cmake
@@ -322,6 +322,7 @@ ot_multi_option(OT_POWER_SUPPLY OT_POWER_SUPPLY_VALUES OPENTHREAD_CONFIG_DEVICE_
 
 ot_int_option(OT_MLE_MAX_CHILDREN OPENTHREAD_CONFIG_MLE_MAX_CHILDREN "set maximum number of children")
 ot_int_option(OT_RCP_RESTORATION_MAX_COUNT OPENTHREAD_SPINEL_CONFIG_RCP_RESTORATION_MAX_COUNT "set max RCP restoration count")
+ot_int_option(OT_RCP_TX_WAIT_TIME_SECS OPENTHREAD_SPINEL_CONFIG_RCP_TX_WAIT_TIME_SECS "set RCP TX wait TIME in seconds")
 
 # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
diff --git a/script/check-scan-build b/script/check-scan-build
index ef723faad..7e6ad30ff 100755
--- a/script/check-scan-build
+++ b/script/check-scan-build
@@ -69,6 +69,7 @@ OT_BUILD_OPTIONS=(
     "-DOT_PING_SENDER=ON"
     "-DOT_PLATFORM=external"
     "-DOT_RCP_RESTORATION_MAX_COUNT=2"
+    "-DOT_RCP_TX_WAIT_TIME_SECS=5"
     "-DOT_REFERENCE_DEVICE=ON"
     "-DOT_SERVICE=ON"
     "-DOT_SLAAC=ON"
diff --git a/script/cmake-build b/script/cmake-build
index e457bfcd1..5ed2e4e4b 100755
--- a/script/cmake-build
+++ b/script/cmake-build
@@ -102,6 +102,7 @@ OT_POSIX_SIM_COMMON_OPTIONS=(
     "-DOT_NETDIAG_CLIENT=ON"
     "-DOT_PING_SENDER=ON"
     "-DOT_RCP_RESTORATION_MAX_COUNT=2"
+    "-DOT_RCP_TX_WAIT_TIME_SECS=5"
     "-DOT_REFERENCE_DEVICE=ON"
     "-DOT_SERVICE=ON"
     "-DOT_SNTP_CLIENT=ON"
diff --git a/src/lib/spinel/openthread-spinel-config.h b/src/lib/spinel/openthread-spinel-config.h
index 231a86838..ef6d5abd2 100644
--- a/src/lib/spinel/openthread-spinel-config.h
+++ b/src/lib/spinel/openthread-spinel-config.h
@@ -109,4 +109,14 @@
 #define OPENTHREAD_SPINEL_CONFIG_VENDOR_HOOK_HEADER "lib/spinel/example_vendor_hook.hpp"
 #endif
 
+/**
+ * @def OPENTHREAD_SPINEL_CONFIG_RCP_TX_WAIT_TIME_SECS
+ *
+ * Defines the Tx wait duration in seconds.
+ *
+ */
+#ifndef OPENTHREAD_SPINEL_CONFIG_RCP_TX_WAIT_TIME_SECS
+#define OPENTHREAD_SPINEL_CONFIG_RCP_TX_WAIT_TIME_SECS 5
+#endif
+
 #endif // OPENTHREAD_SPINEL_CONFIG_H_
diff --git a/src/lib/spinel/radio_spinel.hpp b/src/lib/spinel/radio_spinel.hpp
index bc0774d32..dcac23e9e 100644
--- a/src/lib/spinel/radio_spinel.hpp
+++ b/src/lib/spinel/radio_spinel.hpp
@@ -1105,9 +1105,12 @@ private:
         kStateTransmitDone, ///< Radio indicated frame transmission is done.
     };
 
-    static constexpr uint32_t kUsPerMs = 1000; ///< Microseconds per millisecond.
+    static constexpr uint32_t kUsPerMs  = 1000;                 ///< Microseconds per millisecond.
+    static constexpr uint32_t kMsPerSec = 1000;                 ///< Milliseconds per second.
+    static constexpr uint32_t kUsPerSec = kUsPerMs * kMsPerSec; ///< Microseconds per second.
     static constexpr uint64_t kTxWaitUs =
-        5000000; ///< Maximum time of waiting for `TransmitDone` event, in microseconds.
+        OPENTHREAD_SPINEL_CONFIG_RCP_TX_WAIT_TIME_SECS *
+        kUsPerSec; ///< Maximum time of waiting for `TransmitDone` event, in microseconds.
 
     typedef otError (RadioSpinel::*ResponseHandler)(const uint8_t *aBuffer, uint16_t aLength);