diff --git a/src/ncp/ncp_base.hpp b/src/ncp/ncp_base.hpp
index 0a248b90a..105cbf724 100644
--- a/src/ncp/ncp_base.hpp
+++ b/src/ncp/ncp_base.hpp
@@ -322,6 +322,8 @@ protected:
                                      const otIp6Address ** aDestIpAddress    = NULL,
                                      bool                  aAllowEmptyValues = false);
 
+    otError EncodeNeighborInfo(const otNeighborInfo &aNeighborInfo);
+
 #if OPENTHREAD_FTD
     otError EncodeChildInfo(const otChildInfo &aChildInfo);
 #endif
diff --git a/src/ncp/ncp_base_ftd.cpp b/src/ncp/ncp_base_ftd.cpp
index 2a8a7ad5f..28cc73d28 100644
--- a/src/ncp/ncp_base_ftd.cpp
+++ b/src/ncp/ncp_base_ftd.cpp
@@ -122,30 +122,44 @@ void NcpBase::HandleNeighborTableChanged(otNeighborTableEvent aEvent, const otNe
 
 void NcpBase::HandleNeighborTableChanged(otNeighborTableEvent aEvent, const otNeighborTableEntryInfo &aEntry)
 {
-    otError      error   = OT_ERROR_NONE;
-    uint8_t      header  = SPINEL_HEADER_FLAG | SPINEL_HEADER_IID_0;
-    unsigned int command = 0;
-
-    VerifyOrExit(!mChangedPropsSet.IsPropertyFiltered(SPINEL_PROP_THREAD_CHILD_TABLE));
-
-    VerifyOrExit(!aEntry.mInfo.mChild.mIsStateRestoring);
+    otError           error   = OT_ERROR_NONE;
+    unsigned int      command = SPINEL_CMD_PROP_VALUE_REMOVED;
+    spinel_prop_key_t property;
 
     switch (aEvent)
     {
     case OT_NEIGHBOR_TABLE_EVENT_CHILD_ADDED:
         command = SPINEL_CMD_PROP_VALUE_INSERTED;
+        // Fall through
+    case OT_NEIGHBOR_TABLE_EVENT_CHILD_REMOVED:
+        property = SPINEL_PROP_THREAD_CHILD_TABLE;
+        VerifyOrExit(!aEntry.mInfo.mChild.mIsStateRestoring);
         break;
 
-    case OT_NEIGHBOR_TABLE_EVENT_CHILD_REMOVED:
-        command = SPINEL_CMD_PROP_VALUE_REMOVED;
+    case OT_NEIGHBOR_TABLE_EVENT_ROUTER_ADDED:
+        command = SPINEL_CMD_PROP_VALUE_INSERTED;
+        // Fall through
+    case OT_NEIGHBOR_TABLE_EVENT_ROUTER_REMOVED:
+        property = SPINEL_PROP_THREAD_NEIGHBOR_TABLE;
         break;
 
     default:
         ExitNow();
     }
 
-    SuccessOrExit(error = mEncoder.BeginFrame(header, command, SPINEL_PROP_THREAD_CHILD_TABLE));
-    SuccessOrExit(error = EncodeChildInfo(aEntry.mInfo.mChild));
+    VerifyOrExit(!mChangedPropsSet.IsPropertyFiltered(property));
+
+    SuccessOrExit(error = mEncoder.BeginFrame(SPINEL_HEADER_FLAG | SPINEL_HEADER_IID_0, command, property));
+
+    if (property == SPINEL_PROP_THREAD_CHILD_TABLE)
+    {
+        SuccessOrExit(error = EncodeChildInfo(aEntry.mInfo.mChild));
+    }
+    else
+    {
+        SuccessOrExit(error = EncodeNeighborInfo(aEntry.mInfo.mRouter));
+    }
+
     SuccessOrExit(error = mEncoder.EndFrame());
 
 exit:
@@ -158,7 +172,10 @@ exit:
 
     if (error != OT_ERROR_NONE)
     {
-        mShouldEmitChildTableUpdate = true;
+        if (property == SPINEL_PROP_THREAD_CHILD_TABLE)
+        {
+            mShouldEmitChildTableUpdate = true;
+        }
 
         mChangedPropsSet.AddLastStatus(SPINEL_STATUS_NOMEM);
         mUpdateChangedPropsTask.Post();
diff --git a/src/ncp/ncp_base_mtd.cpp b/src/ncp/ncp_base_mtd.cpp
index 6ba02bd33..3256984be 100644
--- a/src/ncp/ncp_base_mtd.cpp
+++ b/src/ncp/ncp_base_mtd.cpp
@@ -163,6 +163,33 @@ uint8_t NcpBase::LinkFlagsToFlagByte(bool aRxOnWhenIdle, bool aSecureDataRequest
     return flags;
 }
 
+otError NcpBase::EncodeNeighborInfo(const otNeighborInfo &aNeighborInfo)
+{
+    otError error;
+    uint8_t modeFlags;
+
+    modeFlags = LinkFlagsToFlagByte(aNeighborInfo.mRxOnWhenIdle, aNeighborInfo.mSecureDataRequest,
+                                    aNeighborInfo.mFullThreadDevice, aNeighborInfo.mFullNetworkData);
+
+    SuccessOrExit(error = mEncoder.OpenStruct());
+
+    SuccessOrExit(error = mEncoder.WriteEui64(aNeighborInfo.mExtAddress));
+    SuccessOrExit(error = mEncoder.WriteUint16(aNeighborInfo.mRloc16));
+    SuccessOrExit(error = mEncoder.WriteUint32(aNeighborInfo.mAge));
+    SuccessOrExit(error = mEncoder.WriteUint8(aNeighborInfo.mLinkQualityIn));
+    SuccessOrExit(error = mEncoder.WriteInt8(aNeighborInfo.mAverageRssi));
+    SuccessOrExit(error = mEncoder.WriteUint8(modeFlags));
+    SuccessOrExit(error = mEncoder.WriteBool(aNeighborInfo.mIsChild));
+    SuccessOrExit(error = mEncoder.WriteUint32(aNeighborInfo.mLinkFrameCounter));
+    SuccessOrExit(error = mEncoder.WriteUint32(aNeighborInfo.mMleFrameCounter));
+    SuccessOrExit(error = mEncoder.WriteInt8(aNeighborInfo.mLastRssi));
+
+    SuccessOrExit(error = mEncoder.CloseStruct());
+
+exit:
+    return error;
+}
+
 template <> otError NcpBase::HandlePropertyGet<SPINEL_PROP_MAC_DATA_POLL_PERIOD>(void)
 {
     return mEncoder.WriteUint32(otLinkGetPollPeriod(mInstance));
@@ -577,27 +604,10 @@ template <> otError NcpBase::HandlePropertyGet<SPINEL_PROP_THREAD_NEIGHBOR_TABLE
     otError                error = OT_ERROR_NONE;
     otNeighborInfoIterator iter  = OT_NEIGHBOR_INFO_ITERATOR_INIT;
     otNeighborInfo         neighInfo;
-    uint8_t                modeFlags;
 
     while (otThreadGetNextNeighborInfo(mInstance, &iter, &neighInfo) == OT_ERROR_NONE)
     {
-        modeFlags = LinkFlagsToFlagByte(neighInfo.mRxOnWhenIdle, neighInfo.mSecureDataRequest,
-                                        neighInfo.mFullThreadDevice, neighInfo.mFullNetworkData);
-
-        SuccessOrExit(error = mEncoder.OpenStruct());
-
-        SuccessOrExit(error = mEncoder.WriteEui64(neighInfo.mExtAddress));
-        SuccessOrExit(error = mEncoder.WriteUint16(neighInfo.mRloc16));
-        SuccessOrExit(error = mEncoder.WriteUint32(neighInfo.mAge));
-        SuccessOrExit(error = mEncoder.WriteUint8(neighInfo.mLinkQualityIn));
-        SuccessOrExit(error = mEncoder.WriteInt8(neighInfo.mAverageRssi));
-        SuccessOrExit(error = mEncoder.WriteUint8(modeFlags));
-        SuccessOrExit(error = mEncoder.WriteBool(neighInfo.mIsChild));
-        SuccessOrExit(error = mEncoder.WriteUint32(neighInfo.mLinkFrameCounter));
-        SuccessOrExit(error = mEncoder.WriteUint32(neighInfo.mMleFrameCounter));
-        SuccessOrExit(error = mEncoder.WriteInt8(neighInfo.mLastRssi));
-
-        SuccessOrExit(error = mEncoder.CloseStruct());
+        SuccessOrExit(error = EncodeNeighborInfo(neighInfo));
     }
 
 exit: