diff --git a/tests/scripts/thread-cert/test_on_mesh_prefix.py b/tests/scripts/thread-cert/test_on_mesh_prefix.py
new file mode 100755
index 000000000..c2d0fd2b3
--- /dev/null
+++ b/tests/scripts/thread-cert/test_on_mesh_prefix.py
@@ -0,0 +1,142 @@
+#!/usr/bin/env python3
+#
+#  Copyright (c) 2020, The OpenThread Authors.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions are met:
+#  1. Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#  2. Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#  3. Neither the name of the copyright holder nor the
+#     names of its contributors may be used to endorse or promote products
+#     derived from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+#
+
+import unittest
+
+import config
+import thread_cert
+
+LEADER = 1
+ROUTER = 2
+ED1 = 3
+SED1 = 4
+
+MTDS = [ED1, SED1]
+
+
+class Test_OnMeshPrefix(thread_cert.TestCase):
+    TOPOLOGY = {
+        LEADER: {
+            'mode': 'rsdn',
+            'panid': 0xface,
+            'whitelist': [ROUTER]
+        },
+        ROUTER: {
+            'mode': 'rsdn',
+            'panid': 0xface,
+            'router_selection_jitter': 1,
+            'whitelist': [LEADER, ED1, SED1]
+        },
+        ED1: {
+            'is_mtd': True,
+            'mode': 'rsn',
+            'panid': 0xface,
+            'whitelist': [ROUTER]
+        },
+        SED1: {
+            'is_mtd': True,
+            'mode': 's',
+            'panid': 0xface,
+            'timeout': config.DEFAULT_CHILD_TIMEOUT,
+            'whitelist': [ROUTER]
+        },
+    }
+
+    def test(self):
+        self.nodes[LEADER].start()
+        self.simulator.go(4)
+        self.assertEqual(self.nodes[LEADER].get_state(), 'leader')
+
+        self.nodes[ROUTER].start()
+        self.simulator.go(5)
+        self.assertEqual(self.nodes[ROUTER].get_state(), 'router')
+
+        self.nodes[ED1].start()
+        self.simulator.go(5)
+        self.assertEqual(self.nodes[ED1].get_state(), 'child')
+
+        self.nodes[SED1].start()
+        self.simulator.go(5)
+        self.assertEqual(self.nodes[SED1].get_state(), 'child')
+
+        self.nodes[ROUTER].add_prefix('2001:2:0:1::/64', 'paros')
+        self.nodes[ROUTER].add_prefix('2001:2:0:2::/64', 'paro')
+        self.nodes[ROUTER].register_netdata()
+
+        # Set lowpan context of sniffer
+        self.simulator.set_lowpan_context(1, '2001:2:0:1::/64')
+        self.simulator.set_lowpan_context(2, '2001:2:0:2::/64')
+
+        self.simulator.go(10)
+
+        addrs = self.nodes[ED1].get_addrs()
+        self.assertTrue(any('2001:2:0:1' in addr[0:10] for addr in addrs))
+        self.assertTrue(any('2001:2:0:2' in addr[0:10] for addr in addrs))
+        for addr in addrs:
+            if addr[0:3] == '200':
+                self.assertTrue(self.nodes[LEADER].ping(addr))
+
+        addrs = self.nodes[SED1].get_addrs()
+        self.assertTrue(any('2001:2:0:1' in addr[0:10] for addr in addrs))
+        self.assertFalse(any('2001:2:0:2' in addr[0:10] for addr in addrs))
+        for addr in addrs:
+            if addr[0:3] == '200':
+                self.assertTrue(self.nodes[LEADER].ping(addr))
+
+        self.nodes[ROUTER].add_prefix('2002:2:0:3::/64', 'pars')
+        self.nodes[ROUTER].register_netdata()
+
+        # Set lowpan context of sniffer
+        self.simulator.set_lowpan_context(3, '2002:2:0:3::/64')
+
+        self.simulator.go(10)
+
+        addrs = self.nodes[ED1].get_addrs()
+        self.assertTrue(any('2001:2:0:1' in addr[0:10] for addr in addrs))
+        self.assertTrue(any('2001:2:0:2' in addr[0:10] for addr in addrs))
+        self.assertTrue(any('2002:2:0:3' in addr[0:10] for addr in addrs))
+        for addr in addrs:
+            if addr[0:4] == '2001':
+                self.assertTrue(self.nodes[LEADER].ping(addr))
+            elif addr[0:4] == '2002':
+                self.assertFalse(self.nodes[LEADER].ping(addr))
+
+        addrs = self.nodes[SED1].get_addrs()
+        self.assertTrue(any('2001:2:0:1' in addr[0:10] for addr in addrs))
+        self.assertFalse(any('2001:2:0:2' in addr[0:10] for addr in addrs))
+        self.assertTrue(any('2002:2:0:3' in addr[0:10] for addr in addrs))
+        for addr in addrs:
+            if addr[0:4] == '2001':
+                self.assertTrue(self.nodes[LEADER].ping(addr))
+            elif addr[0:4] == '2002':
+                self.assertFalse(self.nodes[LEADER].ping(addr))
+
+
+if __name__ == '__main__':
+    unittest.main()