diff --git a/src/lib/spinel/radio_spinel_impl.hpp b/src/lib/spinel/radio_spinel_impl.hpp
index 4d4fa06c5..c97130564 100644
--- a/src/lib/spinel/radio_spinel_impl.hpp
+++ b/src/lib/spinel/radio_spinel_impl.hpp
@@ -2143,9 +2143,11 @@ template <typename InterfaceType> void RadioSpinel<InterfaceType>::RestoreProper
 
     if (mInstance != nullptr)
     {
-        SuccessOrDie(static_cast<Instance *>(mInstance)->template Get<Settings>().Read(networkInfo));
-        SuccessOrDie(
-            Set(SPINEL_PROP_RCP_MAC_FRAME_COUNTER, SPINEL_DATATYPE_UINT32_S, networkInfo.GetMacFrameCounter()));
+        if (static_cast<Instance *>(mInstance)->template Get<Settings>().Read(networkInfo) == OT_ERROR_NONE)
+        {
+            SuccessOrDie(
+                Set(SPINEL_PROP_RCP_MAC_FRAME_COUNTER, SPINEL_DATATYPE_UINT32_S, networkInfo.GetMacFrameCounter()));
+        }
     }
 
     for (int i = 0; i < mSrcMatchShortEntryCount; ++i)
diff --git a/tests/scripts/expect/posix-rcp-restoration.exp b/tests/scripts/expect/posix-rcp-restoration.exp
index d745474cc..4b174c6c6 100755
--- a/tests/scripts/expect/posix-rcp-restoration.exp
+++ b/tests/scripts/expect/posix-rcp-restoration.exp
@@ -54,17 +54,6 @@ puts "RCP PID: $rcp_pid"
 try {
     puts "Before enabling"
 
-    spawn_node 1 "rcp" "spinel+hdlc_uart://$host_pty"
-
-    exec kill $rcp_pid
-    puts "Killed $rcp_pid"
-    sleep 1
-    set rcp_pid [exec $::env(OT_SIMULATION_APPS)/ncp/ot-rcp 1 < $radio_pty > $radio_pty &]
-    puts "RCP PID: $rcp_pid"
-
-    expect eof
-
-
     puts "Queued parent-to-child packets, as parent"
 
     spawn_node 1 "rcp" "spinel+hdlc_uart://$host_pty"