diff --git a/src/core/meshcop/announce_begin_client.cpp b/src/core/meshcop/announce_begin_client.cpp
index 47e7fe718..f0cde456f 100644
--- a/src/core/meshcop/announce_begin_client.cpp
+++ b/src/core/meshcop/announce_begin_client.cpp
@@ -85,7 +85,7 @@ Error AnnounceBeginClient::SendRequest(uint32_t            aChannelMask,
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo));
 
-    LogInfo("sent announce begin query");
+    LogInfo("Sent %s", UriToString<kUriAnnounceBegin>());
 
 exit:
     FreeMessageOnError(message, error);
diff --git a/src/core/meshcop/commissioner.cpp b/src/core/meshcop/commissioner.cpp
index 5bd024bf9..0bac4320f 100644
--- a/src/core/meshcop/commissioner.cpp
+++ b/src/core/meshcop/commissioner.cpp
@@ -695,7 +695,7 @@ Error Commissioner::SendMgmtCommissionerGetRequest(const uint8_t *aTlvs, uint8_t
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo,
                                                         Commissioner::HandleMgmtCommissionerGetResponse, this));
 
-    LogInfo("sent MGMT_COMMISSIONER_GET.req to leader");
+    LogInfo("Sent %s to leader", UriToString<kUriCommissionerGet>());
 
 exit:
     FreeMessageOnError(message, error);
@@ -718,7 +718,7 @@ void Commissioner::HandleMgmtCommissionerGetResponse(Coap::Message          *aMe
     OT_UNUSED_VARIABLE(aMessageInfo);
 
     VerifyOrExit(aResult == kErrorNone && aMessage->GetCode() == Coap::kCodeChanged);
-    LogInfo("received MGMT_COMMISSIONER_GET response");
+    LogInfo("Received %s response", UriToString<kUriCommissionerGet>());
 
 exit:
     return;
@@ -764,7 +764,7 @@ Error Commissioner::SendMgmtCommissionerSetRequest(const Dataset &aDataset, cons
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo,
                                                         Commissioner::HandleMgmtCommissionerSetResponse, this));
 
-    LogInfo("sent MGMT_COMMISSIONER_SET.req to leader");
+    LogInfo("Sent %s to leader", UriToString<kUriCommissionerSet>());
 
 exit:
     FreeMessageOnError(message, error);
@@ -787,7 +787,7 @@ void Commissioner::HandleMgmtCommissionerSetResponse(Coap::Message          *aMe
     OT_UNUSED_VARIABLE(aMessageInfo);
 
     VerifyOrExit(aResult == kErrorNone && aMessage->GetCode() == Coap::kCodeChanged);
-    LogInfo("received MGMT_COMMISSIONER_SET response");
+    LogInfo("Received %s response", UriToString<kUriCommissionerSet>());
 
 exit:
     return;
@@ -813,7 +813,7 @@ Error Commissioner::SendPetition(void)
     SuccessOrExit(
         error = Get<Tmf::Agent>().SendMessage(*message, messageInfo, Commissioner::HandleLeaderPetitionResponse, this));
 
-    LogInfo("sent petition");
+    LogInfo("Sent %s", UriToString<kUriLeaderPetition>());
 
 exit:
     FreeMessageOnError(message, error);
@@ -842,7 +842,7 @@ void Commissioner::HandleLeaderPetitionResponse(Coap::Message          *aMessage
     VerifyOrExit(aResult == kErrorNone && aMessage->GetCode() == Coap::kCodeChanged,
                  retransmit = (mState == kStatePetition));
 
-    LogInfo("received Leader Petition response");
+    LogInfo("Received %s response", UriToString<kUriLeaderPetition>());
 
     SuccessOrExit(Tlv::Find<StateTlv>(*aMessage, state));
     VerifyOrExit(state == StateTlv::kAccept, IgnoreError(Stop(kDoNotSendKeepAlive)));
@@ -900,7 +900,7 @@ void Commissioner::SendKeepAlive(uint16_t aSessionId)
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo,
                                                         Commissioner::HandleLeaderKeepAliveResponse, this));
 
-    LogInfo("sent keep alive");
+    LogInfo("Sent %s", UriToString<kUriLeaderKeepAlive>());
 
 exit:
     FreeMessageOnError(message, error);
@@ -928,7 +928,7 @@ void Commissioner::HandleLeaderKeepAliveResponse(Coap::Message          *aMessag
     VerifyOrExit(aResult == kErrorNone && aMessage->GetCode() == Coap::kCodeChanged,
                  IgnoreError(Stop(kDoNotSendKeepAlive)));
 
-    LogInfo("received Leader keep-alive response");
+    LogInfo("Received %s response", UriToString<kUriLeaderKeepAlive>());
 
     SuccessOrExit(Tlv::Find<StateTlv>(*aMessage, state));
     VerifyOrExit(state == StateTlv::kAccept, IgnoreError(Stop(kDoNotSendKeepAlive)));
@@ -985,7 +985,7 @@ template <> void Commissioner::HandleTmf<kUriRelayRx>(Coap::Message &aMessage, c
     {
         if (mJoinerIid != joinerIid)
         {
-            LogNote("Ignore Relay Receive (%s, 0x%04x), session in progress with (%s, 0x%04x)",
+            LogNote("Ignore %s (%s, 0x%04x), session in progress with (%s, 0x%04x)", UriToString<kUriRelayRx>(),
                     joinerIid.ToString().AsCString(), joinerRloc, mJoinerIid.ToString().AsCString(), mJoinerRloc);
 
             ExitNow();
@@ -995,7 +995,7 @@ template <> void Commissioner::HandleTmf<kUriRelayRx>(Coap::Message &aMessage, c
     mJoinerPort = joinerPort;
     mJoinerRloc = joinerRloc;
 
-    LogInfo("Received Relay Receive (%s, 0x%04x)", mJoinerIid.ToString().AsCString(), mJoinerRloc);
+    LogInfo("Received %s (%s, 0x%04x)", UriToString<kUriRelayRx>(), mJoinerIid.ToString().AsCString(), mJoinerRloc);
 
     aMessage.SetOffset(offset);
     SuccessOrExit(error = aMessage.SetLength(offset + length));
@@ -1026,11 +1026,11 @@ void Commissioner::HandleTmf<kUriDatasetChanged>(Coap::Message &aMessage, const
     VerifyOrExit(mState == kStateActive);
     VerifyOrExit(aMessage.IsConfirmablePostRequest());
 
-    LogInfo("received dataset changed");
+    LogInfo("Received %s", UriToString<kUriDatasetChanged>());
 
     SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMessage, aMessageInfo));
 
-    LogInfo("sent dataset changed acknowledgment");
+    LogInfo("Sent %s ack", UriToString<kUriDatasetChanged>());
 
 exit:
     return;
@@ -1046,7 +1046,7 @@ void Commissioner::HandleTmf<kUriJoinerFinalize>(Coap::Message &aMessage, const
 
     VerifyOrExit(mState == kStateActive);
 
-    LogInfo("received joiner finalize");
+    LogInfo("Received %s", UriToString<kUriJoinerFinalize>());
 
     switch (Tlv::Find<ProvisioningUrlTlv>(aMessage, provisioningUrl))
     {
@@ -1116,7 +1116,7 @@ void Commissioner::SendJoinFinalizeResponse(const Coap::Message &aRequest, State
         RemoveJoiner(*mActiveJoiner, kRemoveJoinerDelay);
     }
 
-    LogInfo("sent joiner finalize response");
+    LogInfo("Sent %s response", UriToString<kUriJoinerFinalize>());
 
 exit:
     FreeMessageOnError(message, error);
diff --git a/src/core/meshcop/energy_scan_client.cpp b/src/core/meshcop/energy_scan_client.cpp
index 69ca8ed1f..905d8a66f 100644
--- a/src/core/meshcop/energy_scan_client.cpp
+++ b/src/core/meshcop/energy_scan_client.cpp
@@ -91,7 +91,7 @@ Error EnergyScanClient::SendQuery(uint32_t                           aChannelMas
     messageInfo.SetSockAddrToRlocPeerAddrTo(aAddress);
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo));
 
-    LogInfo("sent query");
+    LogInfo("Sent %s", UriToString<kUriEnergyScan>());
 
     mCallback.Set(aCallback, aContext);
 
@@ -108,7 +108,7 @@ void EnergyScanClient::HandleTmf<kUriEnergyReport>(Coap::Message &aMessage, cons
 
     VerifyOrExit(aMessage.IsConfirmablePostRequest());
 
-    LogInfo("received report");
+    LogInfo("Received %s", UriToString<kUriEnergyReport>());
 
     VerifyOrExit((mask = MeshCoP::ChannelMaskTlv::GetChannelMask(aMessage)) != 0);
 
@@ -118,7 +118,7 @@ void EnergyScanClient::HandleTmf<kUriEnergyReport>(Coap::Message &aMessage, cons
 
     SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMessage, aMessageInfo));
 
-    LogInfo("sent report response");
+    LogInfo("Sent %s ack", UriToString<kUriEnergyReport>());
 
 exit:
     return;
diff --git a/src/core/meshcop/joiner.cpp b/src/core/meshcop/joiner.cpp
index 21adc7dd1..9894b9385 100644
--- a/src/core/meshcop/joiner.cpp
+++ b/src/core/meshcop/joiner.cpp
@@ -486,7 +486,7 @@ void Joiner::SendJoinerFinalize(void)
     SuccessOrExit(Get<Tmf::SecureAgent>().SendMessage(*mFinalizeMessage, Joiner::HandleJoinerFinalizeResponse, this));
     mFinalizeMessage = nullptr;
 
-    LogInfo("Joiner sent finalize");
+    LogInfo("Sent %s", UriToString<kUriJoinerFinalize>());
 
 exit:
     return;
@@ -517,7 +517,7 @@ void Joiner::HandleJoinerFinalizeResponse(Coap::Message *aMessage, const Ip6::Me
     SetState(kStateEntrust);
     mTimer.Start(kReponseTimeout);
 
-    LogInfo("Joiner received finalize response %d", state);
+    LogInfo("Received %s %d", UriToString<kUriJoinerFinalize>(), state);
 
 #if OPENTHREAD_CONFIG_REFERENCE_DEVICE_ENABLE
     LogCertMessage("[THCI] direction=recv | type=JOIN_FIN.rsp |", *aMessage);
@@ -535,7 +535,7 @@ template <> void Joiner::HandleTmf<kUriJoinerEntrust>(Coap::Message &aMessage, c
 
     VerifyOrExit(mState == kStateEntrust && aMessage.IsConfirmablePostRequest(), error = kErrorDrop);
 
-    LogInfo("Joiner received entrust");
+    LogInfo("Received %s", UriToString<kUriJoinerEntrust>());
     LogCert("[THCI] direction=recv | type=JOIN_ENT.ntf");
 
     datasetInfo.Clear();
@@ -574,7 +574,7 @@ void Joiner::SendJoinerEntrustResponse(const Coap::Message &aRequest, const Ip6:
 
     SetState(kStateJoined);
 
-    LogInfo("Joiner sent entrust response");
+    LogInfo("Sent %s response", UriToString<kUriJoinerEntrust>());
     LogCert("[THCI] direction=send | type=JOIN_ENT.rsp");
 
 exit:
diff --git a/src/core/meshcop/joiner_router.cpp b/src/core/meshcop/joiner_router.cpp
index 04741e0ff..09616023c 100644
--- a/src/core/meshcop/joiner_router.cpp
+++ b/src/core/meshcop/joiner_router.cpp
@@ -155,7 +155,7 @@ void JoinerRouter::HandleUdpReceive(Message &aMessage, const Ip6::MessageInfo &a
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo));
 
-    LogInfo("Sent relay rx");
+    LogInfo("Sent %s", UriToString<kUriRelayRx>());
 
 exit:
     FreeMessageOnError(message, error);
@@ -177,7 +177,7 @@ template <> void JoinerRouter::HandleTmf<kUriRelayTx>(Coap::Message &aMessage, c
 
     VerifyOrExit(aMessage.IsNonConfirmablePostRequest(), error = kErrorDrop);
 
-    LogInfo("Received relay transmit");
+    LogInfo("Received %s", UriToString<kUriRelayTx>());
 
     SuccessOrExit(error = Tlv::Find<JoinerUdpPortTlv>(aMessage, joinerPort));
     SuccessOrExit(error = Tlv::Find<JoinerIidTlv>(aMessage, joinerIid));
@@ -273,11 +273,10 @@ Error JoinerRouter::SendJoinerEntrust(const Ip6::MessageInfo &aMessageInfo)
 
     IgnoreError(Get<Tmf::Agent>().AbortTransaction(&JoinerRouter::HandleJoinerEntrustResponse, this));
 
-    LogInfo("Sending JOIN_ENT.ntf");
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, aMessageInfo,
                                                         &JoinerRouter::HandleJoinerEntrustResponse, this));
 
-    LogInfo("Sent joiner entrust length = %d", message->GetLength());
+    LogInfo("Sent %s (len= %d)", UriToString<kUriJoinerEntrust>(), message->GetLength());
     LogCert("[THCI] direction=send | type=JOIN_ENT.ntf");
 
 exit:
@@ -382,7 +381,7 @@ void JoinerRouter::HandleJoinerEntrustResponse(Coap::Message          *aMessage,
 
     VerifyOrExit(aMessage->GetCode() == Coap::kCodeChanged);
 
-    LogInfo("Receive joiner entrust response");
+    LogInfo("Receive %s response", UriToString<kUriJoinerEntrust>());
     LogCert("[THCI] direction=recv | type=JOIN_ENT.rsp");
 
 exit:
diff --git a/src/core/meshcop/meshcop_leader.cpp b/src/core/meshcop/meshcop_leader.cpp
index 8c2417983..5f97185d4 100644
--- a/src/core/meshcop/meshcop_leader.cpp
+++ b/src/core/meshcop/meshcop_leader.cpp
@@ -71,7 +71,7 @@ template <> void Leader::HandleTmf<kUriLeaderPetition>(Coap::Message &aMessage,
     CommissionerIdTlv commissionerId;
     StateTlv::State   state = StateTlv::kReject;
 
-    LogInfo("received petition");
+    LogInfo("Received %s", UriToString<kUriLeaderPetition>());
 
     VerifyOrExit(Get<Mle::MleRouter>().IsRoutingLocator(aMessageInfo.GetPeerAddr()));
     SuccessOrExit(Tlv::FindTlv(aMessage, commissionerId));
@@ -136,7 +136,7 @@ void Leader::SendPetitionResponse(const Coap::Message    &aRequest,
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, aMessageInfo));
 
-    LogInfo("sent petition response");
+    LogInfo("Sent %s response", UriToString<kUriLeaderPetition>());
 
 exit:
     FreeMessageOnError(message, error);
@@ -150,7 +150,7 @@ template <> void Leader::HandleTmf<kUriLeaderKeepAlive>(Coap::Message &aMessage,
     BorderAgentLocatorTlv *borderAgentLocator;
     StateTlv::State        responseState;
 
-    LogInfo("received keep alive");
+    LogInfo("Received %s", UriToString<kUriLeaderKeepAlive>());
 
     SuccessOrExit(Tlv::Find<StateTlv>(aMessage, state));
 
@@ -202,7 +202,7 @@ void Leader::SendKeepAliveResponse(const Coap::Message    &aRequest,
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, aMessageInfo));
 
-    LogInfo("sent keep alive response");
+    LogInfo("Sent %s response", UriToString<kUriLeaderKeepAlive>());
 
 exit:
     FreeMessageOnError(message, error);
@@ -221,7 +221,7 @@ void Leader::SendDatasetChanged(const Ip6::Address &aAddress)
     messageInfo.SetSockAddrToRlocPeerAddrTo(aAddress);
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo));
 
-    LogInfo("sent dataset changed");
+    LogInfo("Sent %s", UriToString<kUriDatasetChanged>());
 
 exit:
     FreeMessageOnError(message, error);
diff --git a/src/core/meshcop/panid_query_client.cpp b/src/core/meshcop/panid_query_client.cpp
index 4f9d9371c..8c6a004ef 100644
--- a/src/core/meshcop/panid_query_client.cpp
+++ b/src/core/meshcop/panid_query_client.cpp
@@ -85,7 +85,7 @@ Error PanIdQueryClient::SendQuery(uint16_t                            aPanId,
     messageInfo.SetSockAddrToRlocPeerAddrTo(aAddress);
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo));
 
-    LogInfo("sent panid query");
+    LogInfo("Sent %s", UriToString<kUriPanIdQuery>());
 
     mCallback.Set(aCallback, aContext);
 
@@ -102,7 +102,7 @@ void PanIdQueryClient::HandleTmf<kUriPanIdConflict>(Coap::Message &aMessage, con
 
     VerifyOrExit(aMessage.IsConfirmablePostRequest());
 
-    LogInfo("received panid conflict");
+    LogInfo("Received %s", UriToString<kUriPanIdConflict>());
 
     SuccessOrExit(Tlv::Find<MeshCoP::PanIdTlv>(aMessage, panId));
 
@@ -112,7 +112,7 @@ void PanIdQueryClient::HandleTmf<kUriPanIdConflict>(Coap::Message &aMessage, con
 
     SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMessage, aMessageInfo));
 
-    LogInfo("sent panid query conflict response");
+    LogInfo("Sent %s response", UriToString<kUriPanIdConflict>());
 
 exit:
     return;
diff --git a/src/core/thread/address_resolver.cpp b/src/core/thread/address_resolver.cpp
index 760b42e93..1878eee97 100644
--- a/src/core/thread/address_resolver.cpp
+++ b/src/core/thread/address_resolver.cpp
@@ -600,7 +600,7 @@ Error AddressResolver::SendAddressQuery(const Ip6::Address &aEid)
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo));
 
-    LogInfo("Sending address query for %s", aEid.ToString().AsCString());
+    LogInfo("Sent %s for %s", UriToString<kUriAddressQuery>(), aEid.ToString().AsCString());
 
 exit:
 
@@ -612,8 +612,8 @@ exit:
     {
         uint16_t selfRloc16 = Get<Mle::MleRouter>().GetRloc16();
 
-        LogInfo("Extending ADDR.qry to BB.qry for target=%s, rloc16=%04x(self)", aEid.ToString().AsCString(),
-                selfRloc16);
+        LogInfo("Extending %s to %s for target %s, rloc16=%04x(self)", UriToString<kUriAddressQuery>(),
+                UriToString<kUriBackboneQuery>(), aEid.ToString().AsCString(), selfRloc16);
         IgnoreError(Get<BackboneRouter::Manager>().SendBackboneQuery(aEid, selfRloc16));
     }
 #endif
@@ -649,7 +649,7 @@ void AddressResolver::HandleTmf<kUriAddressNotify>(Coap::Message &aMessage, cons
         ExitNow();
     }
 
-    LogInfo("Received address notification from 0x%04x for %s to 0x%04x",
+    LogInfo("Received %s from 0x%04x for %s to 0x%04x", UriToString<kUriAddressNotify>(),
             aMessageInfo.GetPeerAddr().GetIid().GetLocator(), target.ToString().AsCString(), rloc16);
 
     entry = FindCacheEntry(target, list, prev);
@@ -681,7 +681,7 @@ void AddressResolver::HandleTmf<kUriAddressNotify>(Coap::Message &aMessage, cons
 
     if (Get<Tmf::Agent>().SendEmptyAck(aMessage, aMessageInfo) == kErrorNone)
     {
-        LogInfo("Sending address notification acknowledgment");
+        LogInfo("Sent %s ack", UriToString<kUriAddressNotify>());
     }
 
     Get<MeshForwarder>().HandleResolved(target, kErrorNone);
@@ -718,14 +718,14 @@ void AddressResolver::SendAddressError(const Ip6::Address             &aTarget,
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo));
 
-    LogInfo("Sending address error for target %s", aTarget.ToString().AsCString());
+    LogInfo("Sent %s for target %s", UriToString<kUriAddressError>(), aTarget.ToString().AsCString());
 
 exit:
 
     if (error != kErrorNone)
     {
         FreeMessage(message);
-        LogInfo("Failed to send address error: %s", ErrorToString(error));
+        LogInfo("Failed to send %s: %s", UriToString<kUriAddressError>(), ErrorToString(error));
     }
 }
 
@@ -744,13 +744,13 @@ void AddressResolver::HandleTmf<kUriAddressError>(Coap::Message &aMessage, const
 
     VerifyOrExit(aMessage.IsPostRequest(), error = kErrorDrop);
 
-    LogInfo("Received address error notification");
+    LogInfo("Received %s", UriToString<kUriAddressError>());
 
     if (aMessage.IsConfirmable() && !aMessageInfo.GetSockAddr().IsMulticast())
     {
         if (Get<Tmf::Agent>().SendEmptyAck(aMessage, aMessageInfo) == kErrorNone)
         {
-            LogInfo("Sent address error notification acknowledgment");
+            LogInfo("Sent %s ack", UriToString<kUriAddressError>());
         }
     }
 
@@ -807,7 +807,7 @@ exit:
 
     if (error != kErrorNone)
     {
-        LogWarn("Error while processing address error notification: %s", ErrorToString(error));
+        LogWarn("Error %s when processing %s", ErrorToString(error), UriToString<kUriAddressError>());
     }
 }
 
@@ -823,8 +823,8 @@ void AddressResolver::HandleTmf<kUriAddressQuery>(Coap::Message &aMessage, const
 
     SuccessOrExit(Tlv::Find<ThreadTargetTlv>(aMessage, target));
 
-    LogInfo("Received address query from 0x%04x for target %s", aMessageInfo.GetPeerAddr().GetIid().GetLocator(),
-            target.ToString().AsCString());
+    LogInfo("Received %s from 0x%04x for target %s", UriToString<kUriAddressQuery>(),
+            aMessageInfo.GetPeerAddr().GetIid().GetLocator(), target.ToString().AsCString());
 
     if (Get<ThreadNetif>().HasUnicastAddress(target))
     {
@@ -853,7 +853,8 @@ void AddressResolver::HandleTmf<kUriAddressQuery>(Coap::Message &aMessage, const
     {
         uint16_t srcRloc16 = aMessageInfo.GetPeerAddr().GetIid().GetLocator();
 
-        LogInfo("Extending ADDR.qry to BB.qry for target=%s, rloc16=%04x", target.ToString().AsCString(), srcRloc16);
+        LogInfo("Extending %s to %s for target %s rloc16=%04x", UriToString<kUriAddressQuery>(),
+                UriToString<kUriBackboneQuery>(), target.ToString().AsCString(), srcRloc16);
         IgnoreError(Get<BackboneRouter::Manager>().SendBackboneQuery(target, srcRloc16));
     }
 #endif
@@ -887,7 +888,7 @@ void AddressResolver::SendAddressQueryResponse(const Ip6::Address             &a
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo));
 
-    LogInfo("Sending address notification for target %s", aTarget.ToString().AsCString());
+    LogInfo("Sent %s for target %s", UriToString<kUriAddressNotify>(), aTarget.ToString().AsCString());
 
 exit:
     FreeMessageOnError(message, error);
@@ -955,7 +956,7 @@ void AddressResolver::HandleTimeTick(void)
                 mQueryList.PopAfter(prev);
                 mQueryRetryList.Push(*entry);
 
-                LogInfo("Timed out waiting for address notification for %s, retry: %d",
+                LogInfo("Timed out waiting for %s for %s, retry: %d", UriToString<kUriAddressNotify>(),
                         entry->GetTarget().ToString().AsCString(), entry->GetTimeout());
 
                 Get<MeshForwarder>().HandleResolved(entry->GetTarget(), kErrorDrop);
diff --git a/src/core/thread/announce_begin_server.cpp b/src/core/thread/announce_begin_server.cpp
index 80b74473f..1c904e358 100644
--- a/src/core/thread/announce_begin_server.cpp
+++ b/src/core/thread/announce_begin_server.cpp
@@ -81,7 +81,7 @@ void AnnounceBeginServer::HandleTmf<kUriAnnounceBegin>(Coap::Message &aMessage,
     if (aMessage.IsConfirmable() && !aMessageInfo.GetSockAddr().IsMulticast())
     {
         SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMessage, aMessageInfo));
-        LogInfo("Sent announce begin response");
+        LogInfo("Sent %s response", UriToString<kUriAnnounceBegin>());
     }
 
 exit:
diff --git a/src/core/thread/dua_manager.cpp b/src/core/thread/dua_manager.cpp
index d8866663f..4a0d25f1f 100644
--- a/src/core/thread/dua_manager.cpp
+++ b/src/core/thread/dua_manager.cpp
@@ -541,7 +541,7 @@ void DuaManager::PerformNextRegistration(void)
         Get<DataPollSender>().SendFastPolls();
     }
 
-    LogInfo("Sent DUA.req for DUA %s", dua.ToString().AsCString());
+    LogInfo("Sent %s for DUA %s", UriToString<kUriDuaRegistrationRequest>(), dua.ToString().AsCString());
 
 exit:
     if (error == kErrorNoBufs)
@@ -592,7 +592,7 @@ exit:
         mRegistrationTask.Post();
     }
 
-    LogInfo("Received DUA.rsp: %s", ErrorToString(error));
+    LogInfo("Received %s response: %s", UriToString<kUriDuaRegistrationRequest>(), ErrorToString(error));
 }
 
 template <>
@@ -606,14 +606,14 @@ void DuaManager::HandleTmf<kUriDuaRegistrationNotify>(Coap::Message &aMessage, c
 
     if (aMessage.IsConfirmable() && Get<Tmf::Agent>().SendEmptyAck(aMessage, aMessageInfo) == kErrorNone)
     {
-        LogInfo("Sent DUA.ntf acknowledgment");
+        LogInfo("Sent %s ack", UriToString<kUriDuaRegistrationNotify>());
     }
 
     error = ProcessDuaResponse(aMessage);
 
 exit:
     OT_UNUSED_VARIABLE(error);
-    LogInfo("Received DUA.ntf: %s", ErrorToString(error));
+    LogInfo("Received %s: %s", UriToString<kUriDuaRegistrationNotify>(), ErrorToString(error));
 }
 
 Error DuaManager::ProcessDuaResponse(Coap::Message &aMessage)
@@ -743,7 +743,8 @@ void DuaManager::SendAddressNotification(Ip6::Address              &aAddress,
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo));
 
-    LogInfo("Sent ADDR_NTF for child %04x DUA %s", aChild.GetRloc16(), aAddress.ToString().AsCString());
+    LogInfo("Sent %s for child %04x DUA %s", UriToString<kUriDuaRegistrationNotify>(), aChild.GetRloc16(),
+            aAddress.ToString().AsCString());
 
 exit:
 
@@ -752,8 +753,8 @@ exit:
         FreeMessage(message);
 
         // TODO: (DUA) (P4) may enhance to  guarantee the delivery of DUA.ntf
-        LogWarn("Sent ADDR_NTF for child %04x DUA %s Error %s", aChild.GetRloc16(), aAddress.ToString().AsCString(),
-                ErrorToString(error));
+        LogWarn("Sent %s for child %04x DUA %s Error %s", UriToString<kUriDuaRegistrationNotify>(), aChild.GetRloc16(),
+                aAddress.ToString().AsCString(), ErrorToString(error));
     }
 }
 
diff --git a/src/core/thread/energy_scan_server.cpp b/src/core/thread/energy_scan_server.cpp
index fe9a70cfb..c207ef9f3 100644
--- a/src/core/thread/energy_scan_server.cpp
+++ b/src/core/thread/energy_scan_server.cpp
@@ -102,7 +102,7 @@ void EnergyScanServer::HandleTmf<kUriEnergyScan>(Coap::Message &aMessage, const
     if (aMessage.IsConfirmable() && !aMessageInfo.GetSockAddr().IsMulticast())
     {
         SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMessage, aMessageInfo));
-        LogInfo("sent energy scan query response");
+        LogInfo("Sent %s ack", UriToString<kUriEnergyScan>());
     }
 
 exit:
@@ -197,7 +197,7 @@ void EnergyScanServer::SendReport(void)
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*mReportMessage, messageInfo));
 
-    LogInfo("sent scan results");
+    LogInfo("Sent %s", UriToString<kUriEnergyReport>());
 
 exit:
     FreeMessageOnError(mReportMessage, error);
diff --git a/src/core/thread/network_data_leader_ftd.cpp b/src/core/thread/network_data_leader_ftd.cpp
index 6a5534374..39a033ded 100644
--- a/src/core/thread/network_data_leader_ftd.cpp
+++ b/src/core/thread/network_data_leader_ftd.cpp
@@ -134,7 +134,7 @@ template <> void Leader::HandleTmf<kUriServerData>(Coap::Message &aMessage, cons
 
     VerifyOrExit(Get<Mle::Mle>().IsLeader() && !mWaitingForNetDataSync);
 
-    LogInfo("Received network data registration");
+    LogInfo("Received %s", UriToString<kUriServerData>());
 
     VerifyOrExit(aMessageInfo.GetPeerAddr().GetIid().IsRoutingLocator());
 
@@ -162,7 +162,7 @@ template <> void Leader::HandleTmf<kUriServerData>(Coap::Message &aMessage, cons
 
     SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMessage, aMessageInfo));
 
-    LogInfo("Sent network data registration acknowledgment");
+    LogInfo("Sent %s ack", UriToString<kUriServerData>());
 
 exit:
     return;
@@ -332,7 +332,7 @@ void Leader::SendCommissioningGetResponse(const Coap::Message    &aRequest,
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, aMessageInfo));
 
-    LogInfo("sent commissioning dataset get response");
+    LogInfo("Sent %s response", UriToString<kUriCommissionerGet>());
 
 exit:
     FreeMessageOnError(message, error);
@@ -352,7 +352,7 @@ void Leader::SendCommissioningSetResponse(const Coap::Message     &aRequest,
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, aMessageInfo));
 
-    LogInfo("sent commissioning dataset set response");
+    LogInfo("sent %s response", UriToString<kUriCommissionerSet>());
 
 exit:
     FreeMessageOnError(message, error);
diff --git a/src/core/thread/network_data_notifier.cpp b/src/core/thread/network_data_notifier.cpp
index e9befb4a1..65b76e06a 100644
--- a/src/core/thread/network_data_notifier.cpp
+++ b/src/core/thread/network_data_notifier.cpp
@@ -211,7 +211,7 @@ Error Notifier::SendServerDataNotification(uint16_t aOldRloc16, const NetworkDat
     IgnoreError(messageInfo.SetSockAddrToRlocPeerAddrToLeaderAloc());
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo, HandleCoapResponse, this));
 
-    LogInfo("Sent server data notification");
+    LogInfo("Sent %s", UriToString<kUriServerData>());
 
 exit:
     FreeMessageOnError(message, error);
diff --git a/src/core/thread/network_diagnostic.cpp b/src/core/thread/network_diagnostic.cpp
index c40c048e8..293426feb 100644
--- a/src/core/thread/network_diagnostic.cpp
+++ b/src/core/thread/network_diagnostic.cpp
@@ -782,16 +782,16 @@ const char *NetworkDiagnostic::UriToString(Uri aUri)
     switch (aUri)
     {
     case kUriDiagnosticGetQuery:
-        str = "DiagGetQuery";
+        str = ot::UriToString<kUriDiagnosticGetQuery>();
         break;
     case kUriDiagnosticGetRequest:
-        str = "DiagGetRequest";
+        str = ot::UriToString<kUriDiagnosticGetRequest>();
         break;
     case kUriDiagnosticReset:
-        str = "DiagReset";
+        str = ot::UriToString<kUriDiagnosticReset>();
         break;
     case kUriDiagnosticGetAnswer:
-        str = "DiagGetAnswer";
+        str = ot::UriToString<kUriDiagnosticGetAnswer>();
         break;
     default:
         break;
diff --git a/src/core/thread/panid_query_server.cpp b/src/core/thread/panid_query_server.cpp
index 2288c5978..01df10af8 100644
--- a/src/core/thread/panid_query_server.cpp
+++ b/src/core/thread/panid_query_server.cpp
@@ -76,7 +76,7 @@ void PanIdQueryServer::HandleTmf<kUriPanIdQuery>(Coap::Message &aMessage, const
     if (aMessage.IsConfirmable() && !aMessageInfo.GetSockAddr().IsMulticast())
     {
         SuccessOrExit(Get<Tmf::Agent>().SendEmptyAck(aMessage, aMessageInfo));
-        LogInfo("sent panid query response");
+        LogInfo("Sent %s ack", UriToString<kUriPanIdQuery>());
     }
 
 exit:
@@ -123,7 +123,7 @@ void PanIdQueryServer::SendConflict(void)
 
     SuccessOrExit(error = Get<Tmf::Agent>().SendMessage(*message, messageInfo));
 
-    LogInfo("sent panid conflict");
+    LogInfo("Sent %s", UriToString<kUriPanIdConflict>());
 
 exit:
     FreeMessageOnError(message, error);
diff --git a/src/core/thread/uri_paths.cpp b/src/core/thread/uri_paths.cpp
index 112de3611..ff26d2e76 100644
--- a/src/core/thread/uri_paths.cpp
+++ b/src/core/thread/uri_paths.cpp
@@ -161,4 +161,44 @@ exit:
     return uri;
 }
 
+template <> const char *UriToString<kUriAddressError>(void) { return "AddressError"; }
+template <> const char *UriToString<kUriAddressNotify>(void) { return "AddressNotify"; }
+template <> const char *UriToString<kUriAddressQuery>(void) { return "AddressQuery"; }
+template <> const char *UriToString<kUriAddressRelease>(void) { return "AddressRelease"; }
+template <> const char *UriToString<kUriAddressSolicit>(void) { return "AddressSolicit"; }
+template <> const char *UriToString<kUriServerData>(void) { return "ServerData"; }
+template <> const char *UriToString<kUriAnycastLocate>(void) { return "AnycastLocate"; }
+template <> const char *UriToString<kUriBackboneAnswer>(void) { return "BackboneAnswer"; }
+template <> const char *UriToString<kUriBackboneMlr>(void) { return "BackboneMlr"; }
+template <> const char *UriToString<kUriBackboneQuery>(void) { return "BackboneQuery"; }
+template <> const char *UriToString<kUriAnnounceBegin>(void) { return "AnnounceBegin"; }
+template <> const char *UriToString<kUriActiveGet>(void) { return "ActiveGet"; }
+template <> const char *UriToString<kUriActiveSet>(void) { return "ActiveSet"; }
+template <> const char *UriToString<kUriCommissionerKeepAlive>(void) { return "CommissionerKeepAlive"; }
+template <> const char *UriToString<kUriCommissionerGet>(void) { return "CommissionerGet"; }
+template <> const char *UriToString<kUriCommissionerPetition>(void) { return "CommissionerPetition"; }
+template <> const char *UriToString<kUriCommissionerSet>(void) { return "CommissionerSet"; }
+template <> const char *UriToString<kUriDatasetChanged>(void) { return "DatasetChanged"; }
+template <> const char *UriToString<kUriEnergyReport>(void) { return "EnergyReport"; }
+template <> const char *UriToString<kUriEnergyScan>(void) { return "EnergyScan"; }
+template <> const char *UriToString<kUriJoinerEntrust>(void) { return "JoinerEntrust"; }
+template <> const char *UriToString<kUriJoinerFinalize>(void) { return "JoinerFinalize"; }
+template <> const char *UriToString<kUriLeaderKeepAlive>(void) { return "LeaderKeepAlive"; }
+template <> const char *UriToString<kUriLeaderPetition>(void) { return "LeaderPetition"; }
+template <> const char *UriToString<kUriPanIdConflict>(void) { return "PanIdConflict"; }
+template <> const char *UriToString<kUriPendingGet>(void) { return "PendingGet"; }
+template <> const char *UriToString<kUriPanIdQuery>(void) { return "PanIdQuery"; }
+template <> const char *UriToString<kUriPendingSet>(void) { return "PendingSet"; }
+template <> const char *UriToString<kUriRelayRx>(void) { return "RelayRx"; }
+template <> const char *UriToString<kUriRelayTx>(void) { return "RelayTx"; }
+template <> const char *UriToString<kUriProxyRx>(void) { return "ProxyRx"; }
+template <> const char *UriToString<kUriProxyTx>(void) { return "ProxyTx"; }
+template <> const char *UriToString<kUriDiagnosticGetAnswer>(void) { return "DiagGetAnswer"; }
+template <> const char *UriToString<kUriDiagnosticGetRequest>(void) { return "DiagGetRequest"; }
+template <> const char *UriToString<kUriDiagnosticGetQuery>(void) { return "DiagGetQuery"; }
+template <> const char *UriToString<kUriDiagnosticReset>(void) { return "DiagReset"; }
+template <> const char *UriToString<kUriDuaRegistrationNotify>(void) { return "DuaRegNotify"; }
+template <> const char *UriToString<kUriDuaRegistrationRequest>(void) { return "DuaRegRequest"; }
+template <> const char *UriToString<kUriMlr>(void) { return "Mlr"; }
+
 } // namespace ot
diff --git a/src/core/thread/uri_paths.hpp b/src/core/thread/uri_paths.hpp
index e43928edf..01ef7b08c 100644
--- a/src/core/thread/uri_paths.hpp
+++ b/src/core/thread/uri_paths.hpp
@@ -108,6 +108,57 @@ const char *PathForUri(Uri aUri);
  */
 Uri UriFromPath(const char *aPath);
 
+/**
+ * This template function converts a given URI to a human-readable string.
+ *
+ * @tparam kUri   The URI to convert to string.
+ *
+ * @returns The string representation of @p kUri.
+ *
+ */
+template <Uri kUri> const char *UriToString(void);
+
+// Declaring specializations of `UriToString` for every `Uri`
+template <> const char *UriToString<kUriAddressError>(void);
+template <> const char *UriToString<kUriAddressNotify>(void);
+template <> const char *UriToString<kUriAddressQuery>(void);
+template <> const char *UriToString<kUriAddressRelease>(void);
+template <> const char *UriToString<kUriAddressSolicit>(void);
+template <> const char *UriToString<kUriServerData>(void);
+template <> const char *UriToString<kUriAnycastLocate>(void);
+template <> const char *UriToString<kUriBackboneAnswer>(void);
+template <> const char *UriToString<kUriBackboneMlr>(void);
+template <> const char *UriToString<kUriBackboneQuery>(void);
+template <> const char *UriToString<kUriAnnounceBegin>(void);
+template <> const char *UriToString<kUriActiveGet>(void);
+template <> const char *UriToString<kUriActiveSet>(void);
+template <> const char *UriToString<kUriCommissionerKeepAlive>(void);
+template <> const char *UriToString<kUriCommissionerGet>(void);
+template <> const char *UriToString<kUriCommissionerPetition>(void);
+template <> const char *UriToString<kUriCommissionerSet>(void);
+template <> const char *UriToString<kUriDatasetChanged>(void);
+template <> const char *UriToString<kUriEnergyReport>(void);
+template <> const char *UriToString<kUriEnergyScan>(void);
+template <> const char *UriToString<kUriJoinerEntrust>(void);
+template <> const char *UriToString<kUriJoinerFinalize>(void);
+template <> const char *UriToString<kUriLeaderKeepAlive>(void);
+template <> const char *UriToString<kUriLeaderPetition>(void);
+template <> const char *UriToString<kUriPanIdConflict>(void);
+template <> const char *UriToString<kUriPendingGet>(void);
+template <> const char *UriToString<kUriPanIdQuery>(void);
+template <> const char *UriToString<kUriPendingSet>(void);
+template <> const char *UriToString<kUriRelayRx>(void);
+template <> const char *UriToString<kUriRelayTx>(void);
+template <> const char *UriToString<kUriProxyRx>(void);
+template <> const char *UriToString<kUriProxyTx>(void);
+template <> const char *UriToString<kUriDiagnosticGetAnswer>(void);
+template <> const char *UriToString<kUriDiagnosticGetRequest>(void);
+template <> const char *UriToString<kUriDiagnosticGetQuery>(void);
+template <> const char *UriToString<kUriDiagnosticReset>(void);
+template <> const char *UriToString<kUriDuaRegistrationNotify>(void);
+template <> const char *UriToString<kUriDuaRegistrationRequest>(void);
+template <> const char *UriToString<kUriMlr>(void);
+
 } // namespace ot
 
 #endif // URI_PATHS_HPP_