diff --git a/src/core/diags/README.md b/src/core/diags/README.md
index ee447b3f9..7af2f6084 100644
--- a/src/core/diags/README.md
+++ b/src/core/diags/README.md
@@ -10,6 +10,7 @@ The diagnostics module supports common diagnostics features that are listed belo
 - [diag start](#diag-start)
 - [diag channel](#diag-channel)
 - [diag cw](#diag-cw-start)
+- [diag frame](#diag-frame)
 - [diag stream](#diag-stream-start)
 - [diag power](#diag-power)
 - [diag powersettings](#diag-powersettings)
@@ -77,10 +78,14 @@ Stop transmitting continuous carrier wave.
 Done
 ```
 
-### diag frame \<frame\>
+### diag frame
+
+Usage: `diag frame [-s] <frame>`
 
 Set the frame (hex encoded) to be used by `diag send` and `diag repeat`. The frame may be overwritten by `diag send` and `diag repeat`.
 
+Specify `-s` to skip security processing in radio layer.
+
 ```bash
 > diag frame 11223344
 Done
diff --git a/src/core/diags/factory_diags.cpp b/src/core/diags/factory_diags.cpp
index b6fe8645b..b0691e10d 100644
--- a/src/core/diags/factory_diags.cpp
+++ b/src/core/diags/factory_diags.cpp
@@ -33,6 +33,7 @@
 
 #include "factory_diags.hpp"
 #include "common/error.hpp"
+#include "openthread/platform/radio.h"
 
 #if OPENTHREAD_CONFIG_DIAG_ENABLE
 
@@ -216,18 +217,47 @@ Diags::Diags(Instance &aInstance)
     mStats.Clear();
 }
 
+void Diags::ResetTxPacket(void)
+{
+    mTxPacket->mInfo.mTxInfo.mTxDelayBaseTime      = 0;
+    mTxPacket->mInfo.mTxInfo.mTxDelay              = 0;
+    mTxPacket->mInfo.mTxInfo.mMaxCsmaBackoffs      = 0;
+    mTxPacket->mInfo.mTxInfo.mMaxFrameRetries      = 0;
+    mTxPacket->mInfo.mTxInfo.mRxChannelAfterTxDone = mChannel;
+    mTxPacket->mInfo.mTxInfo.mTxPower              = OT_RADIO_POWER_INVALID;
+    mTxPacket->mInfo.mTxInfo.mIsHeaderUpdated      = false;
+    mTxPacket->mInfo.mTxInfo.mIsARetx              = false;
+    mTxPacket->mInfo.mTxInfo.mCsmaCaEnabled        = false;
+    mTxPacket->mInfo.mTxInfo.mCslPresent           = false;
+    mTxPacket->mInfo.mTxInfo.mIsSecurityProcessed  = false;
+}
+
 Error Diags::ProcessFrame(uint8_t aArgsLength, char *aArgs[])
 {
-    Error    error = kErrorNone;
-    uint16_t size  = OT_RADIO_FRAME_MAX_SIZE;
+    Error    error             = kErrorNone;
+    uint16_t size              = OT_RADIO_FRAME_MAX_SIZE;
+    bool     securityProcessed = false;
+
+    if (aArgsLength >= 1)
+    {
+        if (StringMatch(aArgs[0], "-s"))
+        {
+            securityProcessed = true;
+            aArgs++;
+            aArgsLength--;
+        }
+    }
 
     VerifyOrExit(aArgsLength == 1, error = kErrorInvalidArgs);
 
     SuccessOrExit(error = Utils::CmdLineParser::ParseAsHexString(aArgs[0], size, mTxPacket->mPsdu));
     VerifyOrExit(size <= OT_RADIO_FRAME_MAX_SIZE, error = kErrorInvalidArgs);
     VerifyOrExit(size >= OT_RADIO_FRAME_MIN_SIZE, error = kErrorInvalidArgs);
-    mTxPacket->mLength = size;
-    mIsTxPacketSet     = true;
+
+    ResetTxPacket();
+    mTxPacket->mInfo.mTxInfo.mIsSecurityProcessed = securityProcessed;
+    mTxPacket->mLength                            = size;
+    mIsTxPacketSet                                = true;
 
 exit:
     AppendErrorResult(error);
@@ -468,6 +498,7 @@ void Diags::TransmitPacket(void)
 
     if (!mIsTxPacketSet)
     {
+        ResetTxPacket();
         mTxPacket->mLength = mTxLen;
 
         for (uint8_t i = 0; i < mTxLen; i++)
diff --git a/src/core/diags/factory_diags.hpp b/src/core/diags/factory_diags.hpp
index 01864786d..db9fd8583 100644
--- a/src/core/diags/factory_diags.hpp
+++ b/src/core/diags/factory_diags.hpp
@@ -210,6 +210,7 @@ private:
     void TransmitPacket(void);
     void Output(const char *aFormat, ...);
     void AppendErrorResult(Error aError);
+    void ResetTxPacket(void);
 
     static Error ParseLong(char *aString, long &aLong);
     static Error ParseBool(char *aString, bool &aBool);
diff --git a/tests/scripts/expect/cli-diags.exp b/tests/scripts/expect/cli-diags.exp
index b9ab58071..3f26628d0 100755
--- a/tests/scripts/expect/cli-diags.exp
+++ b/tests/scripts/expect/cli-diags.exp
@@ -152,6 +152,13 @@ send "diag repeat 1\n"
 expect "length 0x7f"
 expect "Done"
 
+send_user "send frame with security processed\n"
+send "diag frame -s 112233\n"
+expect "Done"
+send "diag send 1\n"
+expect "length 0x3"
+expect "Done"
+
 send "diag repeat stop\n"
 expect "Done"