diff --git a/src/core/backbone_router/bbr_manager.cpp b/src/core/backbone_router/bbr_manager.cpp
index af245c860..ffb3ebe1e 100644
--- a/src/core/backbone_router/bbr_manager.cpp
+++ b/src/core/backbone_router/bbr_manager.cpp
@@ -166,8 +166,7 @@ void Manager::HandleMulticastListenerRegistration(const Coap::Msg &aMsg)
         {
             while (!offsetRange.IsEmpty())
             {
-                IgnoreError(aMsg.mMessage.Read(offsetRange, address));
-                offsetRange.AdvanceOffset(sizeof(Ip6::Address));
+                IgnoreError(aMsg.mMessage.ReadAndAdvance(offsetRange, address));
                 addresses[failedAddressNum++] = address;
             }
         }
@@ -217,8 +216,7 @@ void Manager::HandleMulticastListenerRegistration(const Coap::Msg &aMsg)
 
     while (!offsetRange.IsEmpty())
     {
-        IgnoreError(aMsg.mMessage.Read(offsetRange, address));
-        offsetRange.AdvanceOffset(sizeof(Ip6::Address));
+        IgnoreError(aMsg.mMessage.ReadAndAdvance(offsetRange, address));
 
         if (timeout == 0)
         {
diff --git a/src/core/border_router/dhcp6_pd_client.cpp b/src/core/border_router/dhcp6_pd_client.cpp
index 9cf2fc544..6b9e7a43a 100644
--- a/src/core/border_router/dhcp6_pd_client.cpp
+++ b/src/core/border_router/dhcp6_pd_client.cpp
@@ -475,8 +475,7 @@ Error Dhcp6PdClient::ParseHeaderAndValidateMessage(Message &aMessage, Header &aH
 
     offsetRange.InitFromMessageOffsetToEnd(aMessage);
 
-    SuccessOrExit(error = aMessage.Read(offsetRange, aHeader));
-    offsetRange.AdvanceOffset(sizeof(Header));
+    SuccessOrExit(error = aMessage.ReadAndAdvance(offsetRange, aHeader));
 
     aMessage.SetOffset(offsetRange.GetOffset());
 
diff --git a/src/core/common/message.cpp b/src/core/common/message.cpp
index 29e917efa..c97e02547 100644
--- a/src/core/common/message.cpp
+++ b/src/core/common/message.cpp
@@ -663,6 +663,18 @@ exit:
     return error;
 }
 
+Error Message::ReadAndAdvance(OffsetRange &aOffsetRange, void *aBuf, uint16_t aLength) const
+{
+    Error error = Read(aOffsetRange, aBuf, aLength);
+
+    if (error == kErrorNone)
+    {
+        aOffsetRange.AdvanceOffset(aLength);
+    }
+
+    return error;
+}
+
 Error Message::ReadAtAndAdvanceOffset(void *aBuf, uint16_t aLength)
 {
     Error error;
diff --git a/src/core/common/message.hpp b/src/core/common/message.hpp
index 2e0c3b3ed..928c1b2d4 100644
--- a/src/core/common/message.hpp
+++ b/src/core/common/message.hpp
@@ -943,6 +943,37 @@ public:
         return Read(aOffsetRange, &aObject, sizeof(ObjectType));
     }
 
+    /**
+     * Reads a given number of bytes from the message at a given offset range and advances the offset range.
+     *
+     * @param[in,out] aOffsetRange  The offset range in the message to read from. On success, it is advanced.
+     * @param[out]    aBuf          A pointer to a data buffer to copy the read bytes into.
+     * @param[in]     aLength       Number of bytes to read.
+     *
+     * @retval kErrorNone     Requested bytes were successfully read from message. @p aOffsetRange is advanced.
+     * @retval kErrorParse    Not enough bytes remaining to read the requested @p aLength. @p aOffsetRange is unchanged.
+     */
+    Error ReadAndAdvance(OffsetRange &aOffsetRange, void *aBuf, uint16_t aLength) const;
+
+    /**
+     * Reads an object from the message at a given offset range and advances the offset range.
+     *
+     * @tparam     ObjectType   The object type to read from the message.
+     *
+     * @param[in,out] aOffsetRange  The offset range in the message to read from. On success, it is advanced.
+     * @param[out]    aObject       A reference to the object to read into.
+     *
+     * @retval kErrorNone     Object @p aObject was successfully read from message. @p aOffsetRange is advanced.
+     * @retval kErrorParse    Not enough bytes remaining in message to read the entire object. @p aOffsetRange is
+     * unchanged.
+     */
+    template <typename ObjectType> Error ReadAndAdvance(OffsetRange &aOffsetRange, ObjectType &aObject) const
+    {
+        static_assert(!TypeTraits::IsPointer<ObjectType>::kValue, "ObjectType must not be a pointer");
+
+        return ReadAndAdvance(aOffsetRange, &aObject, sizeof(ObjectType));
+    }
+
     /**
      * Reads a given number of bytes from the message at the current message offset and advances the message offset.
      *
diff --git a/src/core/meshcop/border_agent.cpp b/src/core/meshcop/border_agent.cpp
index 787c78f8b..759a9c2d7 100644
--- a/src/core/meshcop/border_agent.cpp
+++ b/src/core/meshcop/border_agent.cpp
@@ -1016,8 +1016,7 @@ void Manager::CoapDtlsSession::HandleTmfProxyTx(Coap::Msg &aMsg)
 
     SuccessOrExit(error = Tlv::FindTlvValueOffsetRange(aMsg.mMessage, Tlv::kUdpEncapsulation, offsetRange));
 
-    SuccessOrExit(error = aMsg.mMessage.Read(offsetRange, udpEncapHeader));
-    offsetRange.AdvanceOffset(sizeof(UdpEncapsulationTlvHeader));
+    SuccessOrExit(error = aMsg.mMessage.ReadAndAdvance(offsetRange, udpEncapHeader));
 
     VerifyOrExit(udpEncapHeader.GetSourcePort() > 0 && udpEncapHeader.GetDestinationPort() > 0, error = kErrorDrop);
 
diff --git a/src/core/meshcop/dataset_manager.cpp b/src/core/meshcop/dataset_manager.cpp
index 73c2c2eec..c46d12aa7 100644
--- a/src/core/meshcop/dataset_manager.cpp
+++ b/src/core/meshcop/dataset_manager.cpp
@@ -543,9 +543,8 @@ Coap::Message *DatasetManager::ProcessGetRequest(const Coap::Message    &aReques
         {
             uint8_t tlvType;
 
-            IgnoreError(aRequest.Read(offsetRange, tlvType));
+            IgnoreError(aRequest.ReadAndAdvance(offsetRange, tlvType));
             tlvList.Add(tlvType);
-            offsetRange.AdvanceOffset(sizeof(uint8_t));
         }
 
         // MGMT_PENDING_GET.rsp must include Delay Timer TLV (Thread 1.1.1
diff --git a/src/core/net/dhcp6_client.cpp b/src/core/net/dhcp6_client.cpp
index 294e860a4..59e91b0dd 100644
--- a/src/core/net/dhcp6_client.cpp
+++ b/src/core/net/dhcp6_client.cpp
@@ -407,9 +407,7 @@ Error Client::ProcessIaNaOption(const Message &aMessage)
     Option::Iterator iterator;
 
     SuccessOrExit(error = Option::FindOption(aMessage, Option::kIaNa, offsetRange));
-    SuccessOrExit(error = aMessage.Read(offsetRange, option));
-
-    offsetRange.AdvanceOffset(sizeof(IaNaOption));
+    SuccessOrExit(error = aMessage.ReadAndAdvance(offsetRange, option));
 
     // Iterate over and check the sub-options within `IaNaOption`.
 
diff --git a/src/core/net/dhcp6_server.cpp b/src/core/net/dhcp6_server.cpp
index 2d449c940..ffb333ee8 100644
--- a/src/core/net/dhcp6_server.cpp
+++ b/src/core/net/dhcp6_server.cpp
@@ -243,12 +243,10 @@ Error Server::ProcessIaNaOption(const Message &aMessage, uint32_t &aIaid)
     Option::Iterator iterator;
 
     SuccessOrExit(error = Option::FindOption(aMessage, Option::kIaNa, offsetRange));
-    SuccessOrExit(error = aMessage.Read(offsetRange, iaNaOption));
+    SuccessOrExit(error = aMessage.ReadAndAdvance(offsetRange, iaNaOption));
 
     aIaid = iaNaOption.GetIaid();
 
-    offsetRange.AdvanceOffset(sizeof(IaNaOption));
-
     mPrefixAgentsMask = 0;
 
     // Iterate and parse `kIaAddress` sub-options within `IaNaOption`.
diff --git a/src/core/net/ip4_types.cpp b/src/core/net/ip4_types.cpp
index 6b4d51fe5..18981685f 100644
--- a/src/core/net/ip4_types.cpp
+++ b/src/core/net/ip4_types.cpp
@@ -234,8 +234,7 @@ bool Header::HasSourceRouteOption(const Message &aMessage) const
         uint8_t optionType;
         uint8_t optionLen;
 
-        SuccessOrExit(aMessage.Read(range, optionType));
-        range.AdvanceOffset(sizeof(uint8_t));
+        SuccessOrExit(aMessage.ReadAndAdvance(range, optionType));
 
         if (optionType == kOptionEnd)
         {
diff --git a/src/core/net/ip6.cpp b/src/core/net/ip6.cpp
index 4288ef21f..e64acb4e7 100644
--- a/src/core/net/ip6.cpp
+++ b/src/core/net/ip6.cpp
@@ -291,8 +291,7 @@ Error Ip6::RemoveMplOption(Message &aMessage)
 
     offsetRange.InitFromMessageFullLength(aMessage);
 
-    IgnoreError(aMessage.Read(offsetRange, ip6Header));
-    offsetRange.AdvanceOffset(sizeof(ip6Header));
+    IgnoreError(aMessage.ReadAndAdvance(offsetRange, ip6Header));
 
     VerifyOrExit(ip6Header.GetNextHeader() == kProtoHopOpts);
 
@@ -885,9 +884,7 @@ bool Ip6::HasIp6InIpTunnel(const Message &aMessage, uint8_t aNextHeader) const
         {
             FragmentHeader fragHeader;
 
-            SuccessOrExit(aMessage.Read(offsetRange, fragHeader));
-            VerifyOrExit(offsetRange.Contains(sizeof(FragmentHeader)));
-            offsetRange.AdvanceOffset(sizeof(FragmentHeader));
+            SuccessOrExit(aMessage.ReadAndAdvance(offsetRange, fragHeader));
             aNextHeader = fragHeader.GetNextHeader();
         }
         else
diff --git a/src/core/thread/mle_ftd.cpp b/src/core/thread/mle_ftd.cpp
index b72d3e9de..5a2f5075b 100644
--- a/src/core/thread/mle_ftd.cpp
+++ b/src/core/thread/mle_ftd.cpp
@@ -1892,8 +1892,7 @@ Error Mle::ProcessAddressRegistrationTlv(RxInfo &aRxInfo, Child &aChild)
         Ip6::Address address;
 
         // Read out the control byte (first byte in entry)
-        SuccessOrExit(error = aRxInfo.mMessage.Read(offsetRange, controlByte));
-        offsetRange.AdvanceOffset(sizeof(uint8_t));
+        SuccessOrExit(error = aRxInfo.mMessage.ReadAndAdvance(offsetRange, controlByte));
         count++;
 
         address.Clear();
@@ -1907,8 +1906,7 @@ Error Mle::ProcessAddressRegistrationTlv(RxInfo &aRxInfo, Child &aChild)
             uint8_t         contextId = AddressRegistrationTlv::GetContextId(controlByte);
             Lowpan::Context context;
 
-            IgnoreError(aRxInfo.mMessage.Read(offsetRange, address.GetIid()));
-            offsetRange.AdvanceOffset(sizeof(Ip6::InterfaceIdentifier));
+            IgnoreError(aRxInfo.mMessage.ReadAndAdvance(offsetRange, address.GetIid()));
 
             Get<NetworkData::Leader>().FindContextForId(contextId, context);
 
@@ -1925,8 +1923,7 @@ Error Mle::ProcessAddressRegistrationTlv(RxInfo &aRxInfo, Child &aChild)
         {
             // Uncompressed entry contains the full IPv6 address.
 
-            IgnoreError(aRxInfo.mMessage.Read(offsetRange, address));
-            offsetRange.AdvanceOffset(sizeof(Ip6::Address));
+            IgnoreError(aRxInfo.mMessage.ReadAndAdvance(offsetRange, address));
         }
 
 #if OPENTHREAD_CONFIG_REFERENCE_DEVICE_ENABLE
diff --git a/src/core/thread/mle_tlvs.cpp b/src/core/thread/mle_tlvs.cpp
index 5b0699751..572027cd9 100644
--- a/src/core/thread/mle_tlvs.cpp
+++ b/src/core/thread/mle_tlvs.cpp
@@ -53,8 +53,7 @@ Error RouteTlv::Data::ParseFrom(const Message &aMessage, const OffsetRange &aOff
     bool isEven = true;
 #endif
 
-    SuccessOrExit(error = aMessage.Read(offsetRange, routerIdMask));
-    offsetRange.AdvanceOffset(sizeof(routerIdMask));
+    SuccessOrExit(error = aMessage.ReadAndAdvance(offsetRange, routerIdMask));
 
     mIdSequence = routerIdMask.GetSequence();
 
@@ -79,8 +78,7 @@ Error RouteTlv::Data::ParseFrom(const Message &aMessage, const OffsetRange &aOff
         entry->mRouterId = routerId;
 
 #if !OPENTHREAD_CONFIG_MLE_LONG_ROUTES_ENABLE
-        SuccessOrExit(error = aMessage.Read<uint8_t>(offsetRange, entry->mRouteData));
-        offsetRange.AdvanceOffset(sizeof(uint8_t));
+        SuccessOrExit(error = aMessage.ReadAndAdvance<uint8_t>(offsetRange, entry->mRouteData));
 #else
         {
             EntryType value;
diff --git a/src/core/thread/network_data_leader.cpp b/src/core/thread/network_data_leader.cpp
index 74fe96b2a..7d564ae79 100644
--- a/src/core/thread/network_data_leader.cpp
+++ b/src/core/thread/network_data_leader.cpp
@@ -586,8 +586,7 @@ Coap::Message *Leader::ProcessCommissionerGetRequest(const Coap::Message &aMessa
             uint8_t             type;
             const MeshCoP::Tlv *subTlv;
 
-            IgnoreError(aMessage.Read(offsetRange, type));
-            offsetRange.AdvanceOffset(sizeof(type));
+            IgnoreError(aMessage.ReadAndAdvance(offsetRange, type));
 
             subTlv = FindCommissioningDataSubTlv(type);
 
diff --git a/src/core/thread/network_diagnostic.cpp b/src/core/thread/network_diagnostic.cpp
index 2156121e3..5cfc104b9 100644
--- a/src/core/thread/network_diagnostic.cpp
+++ b/src/core/thread/network_diagnostic.cpp
@@ -863,8 +863,7 @@ Error Server::TlvTypeListIterator::ReadNextTlvType(uint8_t &aTlvType)
 
     while (!mOffsetRange.IsEmpty())
     {
-        SuccessOrExit(error = mMessage->Read(mOffsetRange, aTlvType));
-        mOffsetRange.AdvanceOffset(sizeof(uint8_t));
+        SuccessOrExit(error = mMessage->ReadAndAdvance(mOffsetRange, aTlvType));
 
         if (!mProcessedTlvs.Has(aTlvType))
         {
@@ -1058,8 +1057,7 @@ static Error ParseEnhancedRoute(const Message &aMessage, uint16_t aOffset, otNet
             continue;
         }
 
-        SuccessOrExit(error = aMessage.Read(offsetRange, entry));
-        offsetRange.AdvanceOffset(sizeof(entry));
+        SuccessOrExit(error = aMessage.ReadAndAdvance(offsetRange, entry));
 
         aNetworkDiagEnhRoute.mRouteData[index].mRouterId = routerId;
         entry.Parse(aNetworkDiagEnhRoute.mRouteData[index]);
@@ -1095,8 +1093,7 @@ Error Client::ParseChildTable(ChildTable &aChildTable, const Message &aMessage,
     {
         ChildTableTlvEntry entry;
 
-        SuccessOrExit(error = aMessage.Read(aOffsetRange, entry));
-        aOffsetRange.AdvanceOffset(sizeof(ChildTableTlvEntry));
+        SuccessOrExit(error = aMessage.ReadAndAdvance(aOffsetRange, entry));
 
         entry.Parse(aChildTable.mTable[aChildTable.mCount]);
         aChildTable.mCount++;
@@ -1112,8 +1109,7 @@ void Client::ParseIp6AddrList(Ip6AddrList &aIp6Addrs, const Message &aMessage, O
 
     while (aOffsetRange.Contains(sizeof(Ip6::Address)) && (aIp6Addrs.mCount < GetArrayLength(aIp6Addrs.mList)))
     {
-        IgnoreError(aMessage.Read(aOffsetRange, aIp6Addrs.mList[aIp6Addrs.mCount]));
-        aOffsetRange.AdvanceOffset(sizeof(Ip6::Address));
+        IgnoreError(aMessage.ReadAndAdvance(aOffsetRange, aIp6Addrs.mList[aIp6Addrs.mCount]));
 
         aIp6Addrs.mCount++;
     }
diff --git a/src/core/thread/thread_tlvs.cpp b/src/core/thread/thread_tlvs.cpp
index af37e0269..a0936e6d2 100644
--- a/src/core/thread/thread_tlvs.cpp
+++ b/src/core/thread/thread_tlvs.cpp
@@ -63,9 +63,7 @@ Error Ip6AddressesTlv::FindIn(const Message &aMessage, Mlr::AddressArray &aAddre
     {
         Ip6::Address address;
 
-        SuccessOrExit(error = aMessage.Read(offsetRange, address));
-        offsetRange.AdvanceOffset(sizeof(Ip6::Address));
-
+        SuccessOrExit(error = aMessage.ReadAndAdvance(offsetRange, address));
         SuccessOrExit(error = aAddresses.AddUnique(address));
     }
 
diff --git a/src/core/utils/mesh_diag.cpp b/src/core/utils/mesh_diag.cpp
index 3f6022ce6..3904b4086 100644
--- a/src/core/utils/mesh_diag.cpp
+++ b/src/core/utils/mesh_diag.cpp
@@ -390,8 +390,7 @@ bool MeshDiag::ProcessChildrenIp6AddrsAnswer(Coap::Message &aMessage, const Ip6:
         // Read the `ChildIp6AddressListTlvValue` (which contains the
         // child RLOC16) and then prepare the `Ip6AddrIterator`.
 
-        SuccessOrExit(aMessage.Read(offsetRange, tlvValue));
-        offsetRange.AdvanceOffset(sizeof(tlvValue));
+        SuccessOrExit(aMessage.ReadAndAdvance(offsetRange, tlvValue));
 
         ip6AddrIterator.mMessage     = &aMessage;
         ip6AddrIterator.mOffsetRange = offsetRange;
@@ -520,12 +519,12 @@ exit:
 
 Error MeshDiag::Ip6AddrIterator::GetNextAddress(Ip6::Address &aAddress)
 {
-    Error error = kErrorNone;
+    Error error = kErrorNotFound;
 
-    VerifyOrExit(mMessage != nullptr, error = kErrorNotFound);
+    VerifyOrExit(mMessage != nullptr);
+    SuccessOrExit(mMessage->ReadAndAdvance(mOffsetRange, aAddress));
 
-    VerifyOrExit(mMessage->Read(mOffsetRange, aAddress) == kErrorNone, error = kErrorNotFound);
-    mOffsetRange.AdvanceOffset(sizeof(Ip6::Address));
+    error = kErrorNone;
 
 exit:
     return error;
@@ -555,8 +554,7 @@ Error MeshDiag::ChildIterator::GetNextChildInfo(ChildInfo &aChildInfo)
 
     VerifyOrExit(mMessage != nullptr);
 
-    SuccessOrExit(mMessage->Read(mOffsetRange, entry));
-    mOffsetRange.AdvanceOffset(sizeof(ChildTableTlvEntry));
+    SuccessOrExit(mMessage->ReadAndAdvance(mOffsetRange, entry));
 
     entry.Parse(info);
 
diff --git a/tests/unit/test_dhcp6_pd_client.cpp b/tests/unit/test_dhcp6_pd_client.cpp
index 0333e2579..275e83826 100644
--- a/tests/unit/test_dhcp6_pd_client.cpp
+++ b/tests/unit/test_dhcp6_pd_client.cpp
@@ -342,10 +342,9 @@ void Dhcp6Msg::ParseFrom(const Message &aMessage)
     Clear();
     offsetRange.InitFromMessageFullLength(aMessage);
 
-    SuccessOrQuit(aMessage.Read(offsetRange, header));
+    SuccessOrQuit(aMessage.ReadAndAdvance(offsetRange, header));
     mMsgType       = header.GetMsgType();
     mTransactionId = header.GetTransactionId();
-    offsetRange.AdvanceOffset(sizeof(header));
 
     while (!offsetRange.IsEmpty())
     {
@@ -432,8 +431,7 @@ void Dhcp6Msg::ParseFrom(const Message &aMessage)
             break;
 
         case Dhcp6::Option::kIaPd:
-            SuccessOrQuit(aMessage.Read(optionOffsetRange, iaPdOption));
-            optionOffsetRange.AdvanceOffset(sizeof(iaPdOption));
+            SuccessOrQuit(aMessage.ReadAndAdvance(optionOffsetRange, iaPdOption));
             VerifyOrQuit(!mIaPds.ContainsMatching(iaPdOption.GetIaid()));
 
             iaPd = mIaPds.PushBack();