diff --git a/src/posix/platform/infra_if.cpp b/src/posix/platform/infra_if.cpp
index def69f4d9..3c1948c6e 100644
--- a/src/posix/platform/infra_if.cpp
+++ b/src/posix/platform/infra_if.cpp
@@ -33,7 +33,7 @@
 
 #include "platform-posix.h"
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+#if OPENTHREAD_POSIX_CONFIG_INFRA_IF_ENABLE
 
 #ifdef __APPLE__
 #define __APPLE_USE_RFC_3542
@@ -682,4 +682,4 @@ InfraNetif &InfraNetif::Get(void)
 
 } // namespace Posix
 } // namespace ot
-#endif // OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+#endif // OPENTHREAD_POSIX_CONFIG_INFRA_IF_ENABLE
diff --git a/src/posix/platform/infra_if.hpp b/src/posix/platform/infra_if.hpp
index f9cd86fb3..6885ce15a 100644
--- a/src/posix/platform/infra_if.hpp
+++ b/src/posix/platform/infra_if.hpp
@@ -39,7 +39,7 @@
 #include "core/common/non_copyable.hpp"
 #include "posix/platform/mainloop.hpp"
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+#if OPENTHREAD_POSIX_CONFIG_INFRA_IF_ENABLE
 
 namespace ot {
 namespace Posix {
@@ -177,4 +177,4 @@ private:
 
 } // namespace Posix
 } // namespace ot
-#endif // OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+#endif // OPENTHREAD_POSIX_CONFIG_INFRA_IF_ENABLE
diff --git a/src/posix/platform/openthread-posix-config.h b/src/posix/platform/openthread-posix-config.h
index 891ad7f45..88a463dd7 100644
--- a/src/posix/platform/openthread-posix-config.h
+++ b/src/posix/platform/openthread-posix-config.h
@@ -323,4 +323,16 @@
 #ifndef OPENTHREAD_POSIX_CONFIG_ANDROID_ENABLE
 #define OPENTHREAD_POSIX_CONFIG_ANDROID_ENABLE 0
 #endif
+
+/**
+ * @def OPENTHREAD_POSIX_CONFIG_INFRA_IF_ENABLE
+ *
+ * Defines `1` to enable the posix implementation of platform/infra_if.h APIs.
+ * The default value is set to `OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE` if it's
+ * not explicit defined.
+ */
+#ifndef OPENTHREAD_POSIX_CONFIG_INFRA_IF_ENABLE
+#define OPENTHREAD_POSIX_CONFIG_INFRA_IF_ENABLE OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+#endif
+
 #endif // OPENTHREAD_PLATFORM_CONFIG_H_
diff --git a/src/posix/platform/system.cpp b/src/posix/platform/system.cpp
index 081afbdc0..d74512efa 100644
--- a/src/posix/platform/system.cpp
+++ b/src/posix/platform/system.cpp
@@ -142,7 +142,7 @@ void platformInit(otPlatformConfig *aPlatformConfig)
     platformBackboneInit(aPlatformConfig->mBackboneInterfaceName);
 #endif
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+#if OPENTHREAD_POSIX_CONFIG_INFRA_IF_ENABLE
     ot::Posix::InfraNetif::Get().Init(aPlatformConfig->mBackboneInterfaceName);
 #endif
 
@@ -181,7 +181,7 @@ void platformSetUp(void)
     platformBackboneSetUp();
 #endif
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+#if OPENTHREAD_POSIX_CONFIG_INFRA_IF_ENABLE
     ot::Posix::InfraNetif::Get().SetUp();
 #endif
 
@@ -236,7 +236,7 @@ void platformTearDown(void)
     platformNetifTearDown();
 #endif
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+#if OPENTHREAD_POSIX_CONFIG_INFRA_IF_ENABLE
     ot::Posix::InfraNetif::Get().TearDown();
 #endif
 
@@ -268,7 +268,7 @@ void platformDeinit(void)
     platformTrelDeinit();
 #endif
 
-#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+#if OPENTHREAD_POSIX_CONFIG_INFRA_IF_ENABLE
     ot::Posix::InfraNetif::Get().Deinit();
 #endif