diff --git a/include/openthread/instance.h b/include/openthread/instance.h
index 8a5c40c9f..7db5df0df 100644
--- a/include/openthread/instance.h
+++ b/include/openthread/instance.h
@@ -53,7 +53,7 @@ extern "C" {
  * @note This number versions both OpenThread platform and user APIs.
  *
  */
-#define OPENTHREAD_API_VERSION (263)
+#define OPENTHREAD_API_VERSION (264)
 
 /**
  * @addtogroup api-instance
diff --git a/include/openthread/ip6.h b/include/openthread/ip6.h
index 078b189a8..ca15f1e8c 100644
--- a/include/openthread/ip6.h
+++ b/include/openthread/ip6.h
@@ -871,6 +871,12 @@ typedef struct otBorderRoutingCounters
     otPacketsAndBytes mInboundMulticast;  ///< The counters for inbound multicast.
     otPacketsAndBytes mOutboundUnicast;   ///< The counters for outbound unicast.
     otPacketsAndBytes mOutboundMulticast; ///< The counters for outbound multicast.
+    uint32_t          mRaRx;              ///< The number of received RA packets.
+    uint32_t          mRaTxSuccess;       ///< The number of RA packets successfully transmitted.
+    uint32_t          mRaTxFailure;       ///< The number of RA packets failed to transmit.
+    uint32_t          mRsRx;              ///< The number of received RS packets.
+    uint32_t          mRsTxSuccess;       ///< The number of RS packets successfully transmitted.
+    uint32_t          mRsTxFailure;       ///< The number of RS packets failed to transmit.
 } otBorderRoutingCounters;
 
 /**
diff --git a/src/cli/README.md b/src/cli/README.md
index a6e9d7fce..e616de7c2 100644
--- a/src/cli/README.md
+++ b/src/cli/README.md
@@ -979,6 +979,12 @@ Inbound Unicast: Packets 4 Bytes 320
 Inbound Multicast: Packets 0 Bytes 0
 Outbound Unicast: Packets 2 Bytes 160
 Outbound Multicast: Packets 0 Bytes 0
+RA Rx: 4
+RA TxSuccess: 2
+RA TxFailed: 0
+RS Rx: 0
+RS TxSuccess: 2
+RS TxFailed: 0
 Done
 ```
 
diff --git a/src/cli/cli.cpp b/src/cli/cli.cpp
index 4e1392d78..9a670f4a3 100644
--- a/src/cli/cli.cpp
+++ b/src/cli/cli.cpp
@@ -2497,6 +2497,12 @@ template <> otError Interpreter::Process<Cmd("counters")>(Arg aArgs[])
      * Inbound Multicast: Packets 0 Bytes 0
      * Outbound Unicast: Packets 2 Bytes 160
      * Outbound Multicast: Packets 0 Bytes 0
+     * RA Rx: 4
+     * RA TxSuccess: 2
+     * RA TxFailed: 0
+     * RS Rx: 0
+     * RS TxSuccess: 2
+     * RS TxFailed: 0
      * Done
      * @endcode
      * @par api_copy
@@ -2531,6 +2537,13 @@ template <> otError Interpreter::Process<Cmd("counters")>(Arg aArgs[])
                              Uint64ToString((brCounters->*counter.mPacketsAndBytes).mBytes, uint64StringBuffer));
                 OutputNewLine();
             }
+
+            OutputLine("RA Rx: %u", brCounters->mRaRx);
+            OutputLine("RA TxSuccess: %u", brCounters->mRaTxSuccess);
+            OutputLine("RA TxFailed: %u", brCounters->mRaTxFailure);
+            OutputLine("RS Rx: %u", brCounters->mRsRx);
+            OutputLine("RS TxSuccess: %u", brCounters->mRsTxSuccess);
+            OutputLine("RS TxFailed: %u", brCounters->mRsTxFailure);
         }
         /**
          * @cli counters br reset
diff --git a/src/core/border_router/routing_manager.cpp b/src/core/border_router/routing_manager.cpp
index 5c12bea57..80aeac3fa 100644
--- a/src/core/border_router/routing_manager.cpp
+++ b/src/core/border_router/routing_manager.cpp
@@ -758,12 +758,14 @@ void RoutingManager::SendRouterAdvertisement(RouterAdvTxMode aRaTxMode)
         if (error == kErrorNone)
         {
             mRaInfo.mLastTxTime = TimerMilli::GetNow();
+            Get<Ip6::Ip6>().GetBorderRoutingCounters().mRaTxSuccess++;
             LogInfo("Sent Router Advertisement on %s", mInfraIf.ToString().AsCString());
             DumpDebg("[BR-CERT] direction=send | type=RA |", raMsg.GetAsPacket().GetBytes(),
                      raMsg.GetAsPacket().GetLength());
         }
         else
         {
+            Get<Ip6::Ip6>().GetBorderRoutingCounters().mRaTxFailure++;
             LogWarn("Failed to send Router Advertisement on %s: %s", mInfraIf.ToString().AsCString(),
                     ErrorToString(error));
         }
@@ -901,6 +903,7 @@ void RoutingManager::HandleRouterSolicit(const InfraIf::Icmp6Packet &aPacket, co
     OT_UNUSED_VARIABLE(aPacket);
     OT_UNUSED_VARIABLE(aSrcAddress);
 
+    Get<Ip6::Ip6>().GetBorderRoutingCounters().mRsRx++;
     LogInfo("Received Router Solicitation from %s on %s", aSrcAddress.ToString().AsCString(),
             mInfraIf.ToString().AsCString());
 
@@ -928,6 +931,7 @@ void RoutingManager::HandleRouterAdvertisement(const InfraIf::Icmp6Packet &aPack
 
     VerifyOrExit(routerAdvMessage.IsValid());
 
+    Get<Ip6::Ip6>().GetBorderRoutingCounters().mRaRx++;
     LogInfo("Received Router Advertisement from %s on %s", aSrcAddress.ToString().AsCString(),
             mInfraIf.ToString().AsCString());
     DumpDebg("[BR-CERT] direction=recv | type=RA |", aPacket.GetBytes(), aPacket.GetLength());
@@ -2882,11 +2886,22 @@ Error RoutingManager::RsSender::SendRs(void)
     Ip6::Address                  destAddress;
     Ip6::Nd::RouterSolicitMessage routerSolicit;
     InfraIf::Icmp6Packet          packet;
+    Error                         error;
 
     packet.InitFrom(routerSolicit);
     destAddress.SetToLinkLocalAllRoutersMulticast();
 
-    return Get<RoutingManager>().mInfraIf.Send(packet, destAddress);
+    error = Get<RoutingManager>().mInfraIf.Send(packet, destAddress);
+
+    if (error == kErrorNone)
+    {
+        Get<Ip6::Ip6>().GetBorderRoutingCounters().mRsTxSuccess++;
+    }
+    else
+    {
+        Get<Ip6::Ip6>().GetBorderRoutingCounters().mRsTxFailure++;
+    }
+    return error;
 }
 
 void RoutingManager::RsSender::HandleTimer(void)
diff --git a/src/core/net/ip6.cpp b/src/core/net/ip6.cpp
index 3071236a9..e6e011712 100644
--- a/src/core/net/ip6.cpp
+++ b/src/core/net/ip6.cpp
@@ -83,6 +83,9 @@ Ip6::Ip6(Instance &aInstance)
     , mTcp(aInstance)
 #endif
 {
+#if OPENTHREAD_CONFIG_IP6_BR_COUNTERS_ENABLE
+    ResetBorderRoutingCounters();
+#endif
 }
 
 Message *Ip6::NewMessage(uint16_t aReserved, const Message::Settings &aSettings)
diff --git a/src/core/net/ip6.hpp b/src/core/net/ip6.hpp
index 24e4c4b21..94449d26b 100644
--- a/src/core/net/ip6.hpp
+++ b/src/core/net/ip6.hpp
@@ -349,6 +349,14 @@ public:
      */
     const otBorderRoutingCounters &GetBorderRoutingCounters(void) const { return mBorderRoutingCounters; }
 
+    /**
+     * This method returns a reference to the Border Routing counters.
+     *
+     * @returns A reference to the Border Routing counters.
+     *
+     */
+    otBorderRoutingCounters &GetBorderRoutingCounters(void) { return mBorderRoutingCounters; }
+
     /**
      * This method resets the Border Routing counters.
      *