diff --git a/src/core/thread/dua_manager.cpp b/src/core/thread/dua_manager.cpp
index 1db85b9e9..ad2857fb6 100644
--- a/src/core/thread/dua_manager.cpp
+++ b/src/core/thread/dua_manager.cpp
@@ -474,7 +474,7 @@ void DuaManager::PerformNextRegistration(void)
         const Ip6::Address *duaPtr = nullptr;
         Child *             child  = nullptr;
 
-        if (!mChildDuaMask.Get(mChildIndexDuaRegistering))
+        if (!mChildDuaMask.Get(mChildIndexDuaRegistering) || mChildDuaRegisteredMask.Get(mChildIndexDuaRegistering))
         {
             for (Child &iter : Get<ChildTable>().Iterate(Child::kInStateValid))
             {