diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
new file mode 100644
index 000000000..21c0c0b60
--- /dev/null
+++ b/.github/workflows/docker.yml
@@ -0,0 +1,100 @@
+#
+#  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.
+#
+
+name: Docker
+
+on: [push, pull_request]
+
+jobs:
+
+  cancel-previous-runs:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: rokroskar/workflow-run-cleanup-action@master
+      env:
+        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
+      if: "github.ref != 'refs/heads/master'"
+
+  buildx:
+    name: buildx-${{ matrix.docker_name }}
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - docker_name: environment
+          - docker_name: codelab_otsim
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Set up Docker Buildx
+      uses: crazy-max/ghaction-docker-buildx@v3
+    - name: Prepare
+      id: prepare
+      run: |
+        DOCKER_IMAGE=openthread/${{ matrix.docker_name }}
+        DOCKER_FILE=etc/docker/${{ matrix.docker_name }}/Dockerfile
+        DOCKER_PLATFORMS=linux/amd64
+        VERSION=latest
+
+        TAGS="--tag ${DOCKER_IMAGE}:${VERSION}"
+
+        echo ::set-output name=docker_image::${DOCKER_IMAGE}
+        echo ::set-output name=version::${VERSION}
+        echo ::set-output name=buildx_args::--platform ${DOCKER_PLATFORMS} \
+          --build-arg VERSION=${VERSION} \
+          --build-arg BUILD_DATE=$(date -u +'%Y-%m-%dT%H:%M:%SZ') \
+          --build-arg VCS_REF=${GITHUB_SHA::8} \
+          ${TAGS} --file ${DOCKER_FILE} .
+
+    - name: Docker Buildx (build)
+      run: |
+        docker buildx build --output "type=image,push=false" ${{ steps.prepare.outputs.buildx_args }}
+
+    - name: Docker Login
+      if: success() && github.repository == 'openthread/openthread' && github.event_name != 'pull_request'
+      env:
+        DOCKER_USERNAME: ${{ secrets.DOCKER_USERNAME }}
+        DOCKER_PASSWORD: ${{ secrets.DOCKER_PASSWORD }}
+      run: |
+        echo "${DOCKER_PASSWORD}" | docker login --username "${DOCKER_USERNAME}" --password-stdin
+
+    - name: Docker Buildx (push)
+      if: success() && github.repository == 'openthread/openthread' && github.event_name != 'pull_request'
+      run: |
+        docker buildx build --output "type=image,push=true" ${{ steps.prepare.outputs.buildx_args }}
+
+    - name: Docker Check Manifest
+      if: always() && github.repository == 'openthread/openthread' && github.event_name != 'pull_request'
+      run: |
+        docker run --rm mplatform/mquery ${{ steps.prepare.outputs.docker_image }}:${{ steps.prepare.outputs.version }}
+
+    - name: Clear
+      if: always() && github.repository == 'openthread/openthread' && github.event_name != 'pull_request'
+      run: |
+        rm -f ${HOME}/.docker/config.json