diff --git a/.github/workflows/simulation.yml b/.github/workflows/simulation.yml
index de2abd9cf..2db1aeb24 100644
--- a/.github/workflows/simulation.yml
+++ b/.github/workflows/simulation.yml
@@ -372,63 +372,6 @@ jobs:
     - name: Codecov
       uses: codecov/codecov-action@v1
 
-  toranj-ncp:
-    runs-on: ubuntu-18.04
-    env:
-      COVERAGE: 1
-    steps:
-    - uses: actions/checkout@v2
-    - name: Bootstrap
-      run: |
-        sudo apt update
-        sudo apt --no-install-recommends install -y dbus libdbus-1-dev
-        sudo apt --no-install-recommends install -y autoconf-archive
-        sudo apt --no-install-recommends install -y bsdtar
-        sudo apt --no-install-recommends install -y libtool
-        sudo apt --no-install-recommends install -y libglib2.0-dev
-        sudo apt --no-install-recommends install -y libboost-dev libboost-signals-dev
-
-        git clone --depth=1 --branch=master https://github.com/openthread/wpantund.git
-        cd wpantund
-        ./bootstrap.sh
-        ./configure
-        sudo make -j2
-        sudo make install
-    - name: Build & Run
-      run: |
-        top_builddir=$(pwd)/build/toranj ./tests/toranj/start.sh
-    - name: Codecov
-      uses: codecov/codecov-action@v1
-
-  toranj-rcp:
-    runs-on: ubuntu-18.04
-    env:
-      COVERAGE: 1
-      TORANJ_POSIX_RCP_MODEL: 1
-    steps:
-    - uses: actions/checkout@v2
-    - name: Bootstrap
-      run: |
-        sudo apt update
-        sudo apt --no-install-recommends install -y dbus libdbus-1-dev
-        sudo apt --no-install-recommends install -y autoconf-archive
-        sudo apt --no-install-recommends install -y bsdtar
-        sudo apt --no-install-recommends install -y libtool
-        sudo apt --no-install-recommends install -y libglib2.0-dev
-        sudo apt --no-install-recommends install -y libboost-dev libboost-signals-dev
-
-        git clone --depth=1 --branch=master https://github.com/openthread/wpantund.git
-        cd wpantund
-        ./bootstrap.sh
-        ./configure
-        sudo make -j2
-        sudo make install
-    - name: Build & Run
-      run: |
-        top_builddir=$(pwd)/build/toranj ./tests/toranj/start.sh
-    - name: Codecov
-      uses: codecov/codecov-action@v1
-
   thread-1-2:
     name: thread-1-2-${{ matrix.compiler.c }}-${{ matrix.arch }}
     runs-on: ubuntu-18.04
diff --git a/.github/workflows/toranj.yml b/.github/workflows/toranj.yml
new file mode 100644
index 000000000..fab03ccc7
--- /dev/null
+++ b/.github/workflows/toranj.yml
@@ -0,0 +1,98 @@
+#
+#  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: Toranj
+
+on: [push, pull_request]
+
+jobs:
+
+  cancel-previous-runs:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: rokroskar/workflow-run-cleanup-action@master
+      env:
+        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
+      if: "github.ref != 'refs/heads/master'"
+
+  toranj-ncp:
+    runs-on: ubuntu-18.04
+    env:
+      COVERAGE: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo apt update
+        sudo apt --no-install-recommends install -y dbus libdbus-1-dev
+        sudo apt --no-install-recommends install -y autoconf-archive
+        sudo apt --no-install-recommends install -y bsdtar
+        sudo apt --no-install-recommends install -y libtool
+        sudo apt --no-install-recommends install -y libglib2.0-dev
+        sudo apt --no-install-recommends install -y libboost-dev libboost-signals-dev
+
+        git clone --depth=1 --branch=master https://github.com/openthread/wpantund.git
+        cd wpantund
+        ./bootstrap.sh
+        ./configure
+        sudo make -j2
+        sudo make install
+    - name: Build & Run
+      run: |
+        top_builddir=$(pwd)/build/toranj ./tests/toranj/start.sh
+    - name: Codecov
+      uses: codecov/codecov-action@v1
+
+  toranj-rcp:
+    runs-on: ubuntu-18.04
+    env:
+      COVERAGE: 1
+      TORANJ_POSIX_RCP_MODEL: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo apt update
+        sudo apt --no-install-recommends install -y dbus libdbus-1-dev
+        sudo apt --no-install-recommends install -y autoconf-archive
+        sudo apt --no-install-recommends install -y bsdtar
+        sudo apt --no-install-recommends install -y libtool
+        sudo apt --no-install-recommends install -y libglib2.0-dev
+        sudo apt --no-install-recommends install -y libboost-dev libboost-signals-dev
+
+        git clone --depth=1 --branch=master https://github.com/openthread/wpantund.git
+        cd wpantund
+        ./bootstrap.sh
+        ./configure
+        sudo make -j2
+        sudo make install
+    - name: Build & Run
+      run: |
+        top_builddir=$(pwd)/build/toranj ./tests/toranj/start.sh
+    - name: Codecov
+      uses: codecov/codecov-action@v1