diff --git a/src/core/border_router/routing_manager.cpp b/src/core/border_router/routing_manager.cpp
index fd4111a3e..8d912ffa4 100644
--- a/src/core/border_router/routing_manager.cpp
+++ b/src/core/border_router/routing_manager.cpp
@@ -4318,7 +4318,10 @@ void RoutingManager::Nat64PrefixManager::Discover(void)
     }
     else
     {
-        LogWarn("Failed to discover infraif NAT64 prefix: %s", ErrorToString(error));
+        if (error != kErrorNotImplemented)
+        {
+            LogWarn("Failed to discover infraif NAT64 prefix: %s", ErrorToString(error));
+        }
         Get<RoutingManager>().ScheduleRoutingPolicyEvaluation(kAfterRandomDelay);
     }
 }