diff --git a/src/core/thread/mle_router.cpp b/src/core/thread/mle_router.cpp
index 70c871420..76a52e988 100644
--- a/src/core/thread/mle_router.cpp
+++ b/src/core/thread/mle_router.cpp
@@ -725,7 +725,7 @@ otError MleRouter::SendLinkAccept(const Ip6::MessageInfo &aMessageInfo,
         switch (aRequestedTlvs.mTlvs[i])
         {
         case Tlv::kRoute:
-            SuccessOrExit(error = AppendRoute(*message));
+            SuccessOrExit(error = AppendRoute(*message, aNeighbor));
             break;
 
         case Tlv::kAddress16:
@@ -4139,15 +4139,62 @@ exit:
     return error;
 }
 
-void MleRouter::FillRouteTlv(RouteTlv &aTlv)
+void MleRouter::FillRouteTlv(RouteTlv &aTlv, Neighbor *aNeighbor)
 {
-    uint8_t routerCount = 0;
+    uint8_t     routerIdSequence = mRouterTable.GetRouterIdSequence();
+    RouterIdSet routerIdSet      = mRouterTable.GetRouterIdSet();
+    uint8_t     routerCount;
 
-    aTlv.SetRouterIdSequence(mRouterTable.GetRouterIdSequence());
-    aTlv.SetRouterIdMask(mRouterTable.GetRouterIdSet());
+    if (aNeighbor && IsActiveRouter(aNeighbor->GetRloc16()))
+    {
+        // Sending a Link Accept message that may require truncation
+        // of Route64 TLV
+
+        routerCount = mRouterTable.GetActiveRouterCount();
+
+        if (routerCount > RouteTlv::kLinkAcceptMaxRouters)
+        {
+            for (uint8_t routerId = 0; routerId <= kMaxRouterId; routerId++)
+            {
+                if (routerCount <= RouteTlv::kLinkAcceptMaxRouters)
+                {
+                    break;
+                }
+
+                if ((routerId == RouterIdFromRloc16(GetRloc16())) || (routerId == aNeighbor->GetRouterId()) ||
+                    (routerId == GetLeaderId()))
+                {
+                    // Route64 TLV must contain this device and the
+                    // neighboring router to ensure that at least this
+                    // link can be established.
+                    continue;
+                }
+
+                if (routerIdSet.Contains(routerId))
+                {
+                    routerIdSet.Remove(routerId);
+                    routerCount--;
+                }
+            }
+
+            // Ensure that the neighbor will process the current
+            // Route64 TLV in a subsequent message exchange
+            routerIdSequence -= RouteTlv::kLinkAcceptSequenceRollback;
+        }
+    }
+
+    aTlv.SetRouterIdSequence(routerIdSequence);
+    aTlv.SetRouterIdMask(routerIdSet);
+
+    routerCount = 0;
 
     for (Router &router : Get<RouterTable>().Iterate())
     {
+        if (!routerIdSet.Contains(router.GetRouterId()))
+        {
+            continue;
+        }
+
         if (router.GetRloc16() == GetRloc16())
         {
             aTlv.SetLinkQualityIn(routerCount, 0);
@@ -4193,12 +4240,12 @@ void MleRouter::FillRouteTlv(RouteTlv &aTlv)
     aTlv.SetRouteDataLength(routerCount);
 }
 
-otError MleRouter::AppendRoute(Message &aMessage)
+otError MleRouter::AppendRoute(Message &aMessage, Neighbor *aNeighbor)
 {
     RouteTlv tlv;
 
     tlv.Init();
-    FillRouteTlv(tlv);
+    FillRouteTlv(tlv, aNeighbor);
 
     return tlv.AppendTo(aMessage);
 }
diff --git a/src/core/thread/mle_router.hpp b/src/core/thread/mle_router.hpp
index ec1632477..4518617bd 100644
--- a/src/core/thread/mle_router.hpp
+++ b/src/core/thread/mle_router.hpp
@@ -419,7 +419,7 @@ public:
      * @param[out]  aTlv  A reference to the tlv to be filled.
      *
      */
-    void FillRouteTlv(RouteTlv &aTlv);
+    void FillRouteTlv(RouteTlv &aTlv, Neighbor *aNeighbor = nullptr);
 
     /**
      * This method generates an MLE Child Update Request message to be sent to the parent.
@@ -582,7 +582,7 @@ private:
 
     otError AppendConnectivity(Message &aMessage);
     otError AppendChildAddresses(Message &aMessage, Child &aChild);
-    otError AppendRoute(Message &aMessage);
+    otError AppendRoute(Message &aMessage, Neighbor *aNeighbor = nullptr);
     otError AppendActiveDataset(Message &aMessage);
     otError AppendPendingDataset(Message &aMessage);
     void    HandleDetachStart(void);
diff --git a/src/core/thread/mle_tlvs.hpp b/src/core/thread/mle_tlvs.hpp
index bae885d07..7285a0c17 100644
--- a/src/core/thread/mle_tlvs.hpp
+++ b/src/core/thread/mle_tlvs.hpp
@@ -142,6 +142,16 @@ OT_TOOL_PACKED_BEGIN
 class RouteTlv : public Tlv
 {
 public:
+    enum
+    {
+#if OPENTHREAD_CONFIG_TIME_SYNC_ENABLE
+        kLinkAcceptMaxRouters = 3,
+#else
+        kLinkAcceptMaxRouters = 20,
+#endif
+        kLinkAcceptSequenceRollback = 64,
+    };
+
     /**
      * This method initializes the TLV.
      *