diff --git a/src/cli/README.md b/src/cli/README.md
index 164088742..ff5ebeba3 100644
--- a/src/cli/README.md
+++ b/src/cli/README.md
@@ -1063,6 +1063,17 @@ The parameters after `hostname` are optional. Any unspecified (or zero) value fo
 > DNS response for ipv6.google.com - 2a00:1450:401b:801:0:0:0:200e TTL: 300
 ```
 
+The DNS server IP can be an IPv4 address, which will be synthesized to an IPv6 address using the preferred NAT64 prefix from the network data.
+
+> Note: The command will return `InvalidState` when the DNS server IP is an IPv4 address but the preferred NAT64 prefix is unavailable.
+
+```bash
+> dns resolve example.com 8.8.8.8
+Synthesized IPv6 DNS server address: fdde:ad00:beef:2:0:0:808:808
+DNS response for example.com. - fd4c:9574:3720:2:0:0:5db8:d822 TTL:20456
+Done
+```
+
 ### dns browse \<service-name\> \[DNS server IP\] \[DNS server port\] \[response timeout (ms)\] \[max tx attempts\] \[recursion desired (boolean)\]
 
 Send a browse (service instance enumeration) DNS query to get the list of services for given service-name.
@@ -1085,12 +1096,16 @@ instance2
 Done
 ```
 
+> Note: The DNS server IP can be an IPv4 address, which will be synthesized to an IPv6 address using the preferred NAT64 prefix from the network data. The command will return `InvalidState` when the DNS server IP is an IPv4 address but the preferred NAT64 prefix is unavailable.
+
 ### dns service \<service-instance-label\> \<service-name\> \[DNS server IP\] \[DNS server port\] \[response timeout (ms)\] \[max tx attempts\] \[recursion desired (boolean)\]
 
 Send a service instance resolution DNS query for a given service instance. Service instance label is provided first, followed by the service name (note that service instance label can contain dot '.' character).
 
 The parameters after `service-name` are optional. Any unspecified (or zero) value for these optional parameters is replaced by the value from the current default config (`dns config`).
 
+> Note: The DNS server IP can be an IPv4 address, which will be synthesized to an IPv6 address using the preferred NAT64 prefix from the network data. The command will return `InvalidState` when the DNS server IP is an IPv4 address but the preferred NAT64 prefix is unavailable.
+
 ### dns compression \[enable|disable\]
 
 Enable/Disable the "DNS name compression" mode.
diff --git a/src/cli/cli.cpp b/src/cli/cli.cpp
index d11f728ed..49760dc4f 100644
--- a/src/cli/cli.cpp
+++ b/src/cli/cli.cpp
@@ -2945,17 +2945,24 @@ exit:
 otError Interpreter::GetDnsConfig(Arg aArgs[], otDnsQueryConfig *&aConfig)
 {
     // This method gets the optional DNS config from `aArgs[]`.
-    // The format: `[server IPv6 address] [server port] [timeout]
+    // The format: `[server IP address] [server port] [timeout]
     // [max tx attempt] [recursion desired]`.
 
     otError error = OT_ERROR_NONE;
     bool    recursionDesired;
+    bool    nat64SynthesizedAddress;
 
     memset(aConfig, 0, sizeof(otDnsQueryConfig));
 
     VerifyOrExit(!aArgs[0].IsEmpty(), aConfig = nullptr);
 
-    SuccessOrExit(error = aArgs[0].ParseAsIp6Address(aConfig->mServerSockAddr.mAddress));
+    SuccessOrExit(error = Interpreter::ParseToIp6Address(GetInstancePtr(), aArgs[0], aConfig->mServerSockAddr.mAddress,
+                                                         nat64SynthesizedAddress));
+    if (nat64SynthesizedAddress)
+    {
+        OutputFormat("Synthesized IPv6 DNS server address: ");
+        OutputIp6AddressLine(aConfig->mServerSockAddr.mAddress);
+    }
 
     VerifyOrExit(!aArgs[1].IsEmpty());
     SuccessOrExit(error = aArgs[1].ParseAsUint16(aConfig->mServerSockAddr.mPort));