diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index 1ed8e04bc..a89f5c30c 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -3175,6 +3175,16 @@ void Mle::DelayedSender::ScheduleParentResponse(const ParentResponseInfo &aInfo,
     AddSchedule(kTypeParentResponse, destination, aDelay, &aInfo, sizeof(aInfo));
 }
 
+void Mle::DelayedSender::RemoveScheduledParentResponses(void)
+{
+    Ip6::Address destination;
+
+    // The unspecified address will clear all parent responses to any destination
+    destination.Clear();
+
+    RemoveMatchingSchedules(kTypeParentResponse, destination);
+}
+
 void Mle::DelayedSender::ScheduleAdvertisement(const Ip6::Address &aDestination, uint32_t aDelay)
 {
     VerifyOrExit(!HasMatchingSchedule(kTypeAdvertisement, aDestination));
@@ -4426,6 +4436,10 @@ void Mle::Attacher::Attach(AttachMode aMode)
 
     VerifyOrExit(!IsAttaching());
 
+#if OPENTHREAD_FTD
+    Get<Mle>().RemoveScheduledParentResponses();
+#endif
+
     if (!Get<Mle>().IsDetached())
     {
         mAttachCounter = 0;
diff --git a/src/core/thread/mle.hpp b/src/core/thread/mle.hpp
index 75af8864f..90a9feb3d 100644
--- a/src/core/thread/mle.hpp
+++ b/src/core/thread/mle.hpp
@@ -1046,6 +1046,12 @@ public:
      */
     void ScheduleUnicastAdvertisementTo(const Router &aRouter);
 
+    /**
+     * Remove all parent responses that have been scheduled to be sent at a later time. Used when a precondition
+     * of the parent responses has changed.
+     */
+    void RemoveScheduledParentResponses(void) { mDelayedSender.RemoveScheduledParentResponses(); }
+
 #if OPENTHREAD_CONFIG_MLE_STEERING_DATA_SET_OOB_ENABLE
     /**
      * Sets steering data out of band
@@ -1698,6 +1704,7 @@ private:
         void ScheduleChildUpdateRequestToParent(uint32_t aDelay);
 #if OPENTHREAD_FTD
         void ScheduleParentResponse(const ParentResponseInfo &aInfo, uint32_t aDelay);
+        void RemoveScheduledParentResponses(void);
         void ScheduleAdvertisement(const Ip6::Address &aDestination, uint32_t aDelay);
         void ScheduleMulticastDataResponse(uint32_t aDelay);
         void ScheduleLinkRequest(const Router &aRouter, uint32_t aDelay);