diff --git a/src/cli/cli.cpp b/src/cli/cli.cpp
index d265f2a83..4caecd787 100644
--- a/src/cli/cli.cpp
+++ b/src/cli/cli.cpp
@@ -4901,7 +4901,7 @@ void Interpreter::ProcessLine(char *aBuf)
         ExitNow();
     }
 
-    SuccessOrExit(ProcessUserCommands(argsLength, args));
+    VerifyOrExit(ProcessUserCommands(argsLength, args) != OT_ERROR_NONE);
     OutputResult(OT_ERROR_INVALID_COMMAND);
 
 exit:
diff --git a/tests/scripts/expect/cli-misc.exp b/tests/scripts/expect/cli-misc.exp
index 6b548e0c8..af6fb22ce 100755
--- a/tests/scripts/expect/cli-misc.exp
+++ b/tests/scripts/expect/cli-misc.exp
@@ -173,4 +173,7 @@ expect "Done"
 send "ba state\n"
 expect "Done"
 
+send "invalidcommand\n"
+expect_line "Error 35: InvalidCommand"
+
 dispose_all