diff --git a/include/openthread/coap.h b/include/openthread/coap.h
index d5d02060b..a19fb16a6 100644
--- a/include/openthread/coap.h
+++ b/include/openthread/coap.h
@@ -608,6 +608,19 @@ otError otCoapMessageAppendObserveOption(otMessage *aMessage, uint32_t aObserve)
  */
 otError otCoapMessageAppendUriPathOptions(otMessage *aMessage, const char *aUriPath);
 
+/**
+ * Appends a Uri-Query option.
+ *
+ * @param[in,out]  aMessage   A pointer to the CoAP message.
+ * @param[in]      aUriQuery  A pointer to a NULL-terminated string.
+ *
+ * @retval OT_ERROR_NONE          Successfully appended the option.
+ * @retval OT_ERROR_INVALID_ARGS  The option type is not equal or greater than the last option type.
+ * @retval OT_ERROR_NO_BUFS       The option length exceeds the buffer size.
+ *
+ */
+otError otCoapMessageAppendUriQueryOptions(otMessage *aMessage, const char *aUriQuery);
+
 /**
  * Converts a CoAP Block option SZX field to the actual block size
  *
diff --git a/include/openthread/instance.h b/include/openthread/instance.h
index 7f18df902..ef6e2d4f8 100644
--- a/include/openthread/instance.h
+++ b/include/openthread/instance.h
@@ -53,7 +53,7 @@ extern "C" {
  * @note This number versions both OpenThread platform and user APIs.
  *
  */
-#define OPENTHREAD_API_VERSION (427)
+#define OPENTHREAD_API_VERSION (428)
 
 /**
  * @addtogroup api-instance
diff --git a/src/cli/cli_coap.cpp b/src/cli/cli_coap.cpp
index 5edbe00c6..e91439109 100644
--- a/src/cli/cli_coap.cpp
+++ b/src/cli/cli_coap.cpp
@@ -583,7 +583,8 @@ otError Coap::ProcessRequest(Arg aArgs[], otCoapCode aCoapCode)
     otError       error   = OT_ERROR_NONE;
     otMessage    *message = nullptr;
     otMessageInfo messageInfo;
-    uint16_t      payloadLength = 0;
+    uint16_t      payloadLength    = 0;
+    char         *uriQueryStartPtr = nullptr;
 
     // Default parameters
     char         coapUri[kMaxUriLength] = "test";
@@ -682,7 +683,20 @@ otError Coap::ProcessRequest(Arg aArgs[], otCoapCode aCoapCode)
     }
 #endif
 
-    SuccessOrExit(error = otCoapMessageAppendUriPathOptions(message, coapUri));
+    uriQueryStartPtr = const_cast<char *>(StringFind(coapUri, '?'));
+
+    if (uriQueryStartPtr == nullptr)
+    {
+        // "?" doesn't present in URI --> contains only URI path parts
+        SuccessOrExit(error = otCoapMessageAppendUriPathOptions(message, coapUri));
+    }
+    else
+    {
+        // "?" presents in URI --> contains URI path AND URI query parts
+        *uriQueryStartPtr++ = '\0';
+        SuccessOrExit(error = otCoapMessageAppendUriPathOptions(message, coapUri));
+        SuccessOrExit(error = otCoapMessageAppendUriQueryOptions(message, uriQueryStartPtr));
+    }
 
 #if OPENTHREAD_CONFIG_COAP_BLOCKWISE_TRANSFER_ENABLE
     if (coapBlock)
diff --git a/src/core/api/coap_api.cpp b/src/core/api/coap_api.cpp
index 25f3208e7..7539eba75 100644
--- a/src/core/api/coap_api.cpp
+++ b/src/core/api/coap_api.cpp
@@ -99,6 +99,11 @@ otError otCoapMessageAppendUriPathOptions(otMessage *aMessage, const char *aUriP
     return AsCoapMessage(aMessage).AppendUriPathOptions(aUriPath);
 }
 
+otError otCoapMessageAppendUriQueryOptions(otMessage *aMessage, const char *aUriQuery)
+{
+    return AsCoapMessage(aMessage).AppendUriQueryOptions(aUriQuery);
+}
+
 uint16_t otCoapBlockSizeFromExponent(otCoapBlockSzx aSize)
 {
     return static_cast<uint16_t>(1 << (static_cast<uint8_t>(aSize) + Coap::Message::kBlockSzxBase));
diff --git a/src/core/coap/coap_message.cpp b/src/core/coap/coap_message.cpp
index 6743f2055..cc82145e8 100644
--- a/src/core/coap/coap_message.cpp
+++ b/src/core/coap/coap_message.cpp
@@ -275,6 +275,24 @@ exit:
     return error;
 }
 
+Error Message::AppendUriQueryOptions(const char *aUriQuery)
+{
+    Error       error = kErrorNone;
+    const char *cur   = aUriQuery;
+    const char *end;
+
+    while ((end = StringFind(cur, '&')) != nullptr)
+    {
+        SuccessOrExit(error = AppendOption(kOptionUriQuery, static_cast<uint16_t>(end - cur), cur));
+        cur = end + 1;
+    }
+
+    SuccessOrExit(error = AppendStringOption(kOptionUriQuery, cur));
+
+exit:
+    return error;
+}
+
 Error Message::AppendBlockOption(Message::BlockType aType, uint32_t aNum, bool aMore, otCoapBlockSzx aSize)
 {
     Error    error   = kErrorNone;
diff --git a/src/core/coap/coap_message.hpp b/src/core/coap/coap_message.hpp
index 62128b6a3..6156df8ce 100644
--- a/src/core/coap/coap_message.hpp
+++ b/src/core/coap/coap_message.hpp
@@ -479,6 +479,18 @@ public:
      */
     Error ReadUriPathOptions(char (&aUriPath)[kMaxReceivedUriPath + 1]) const;
 
+    /**
+     * Appends a Uri-Query option.
+     *
+     * @param[in]  aUriQuery          A pointer to a null-terminated string.
+     *
+     * @retval kErrorNone         Successfully appended the option.
+     * @retval kErrorInvalidArgs  The option type is not equal or greater than the last option type.
+     * @retval kErrorNoBufs       The option length exceeds the buffer size.
+     *
+     */
+    Error AppendUriQueryOptions(const char *aUriQuery);
+
     /**
      * Appends a Block option
      *