diff --git a/src/core/config/mle.h b/src/core/config/mle.h
index 5c2ee78a0..e6131bd49 100644
--- a/src/core/config/mle.h
+++ b/src/core/config/mle.h
@@ -163,6 +163,26 @@
 #define OPENTHREAD_CONFIG_MLE_ATTACH_BACKOFF_JITTER_INTERVAL 2000
 #endif
 
+/**
+ * @def OPENTHREAD_CONFIG_MLE_ATTACH_BACKOFF_DELAY_TO_RESET_BACKOFF_INTERVAL
+ *
+ * Specifies the delay wait interval (in milliseconds) used by attach backoff feature after a successful attach before
+ * it resets the current backoff interval back to the minimum value.
+ *
+ * If it is set to zero then the device resets its backoff attach interval immediately after a successful attach. With
+ * a non-zero value, if after a successful attach, the device happens to detach within the delay interval, the reattach
+ *  process resumes with the previous backoff interval (as if the attach did not happen).
+ *
+ * This behavior is helpful in the situation where a battery-powered device has poor link quality to its parent and
+ * therefore attaches and detaches frequently from the parent.  Using a non-zero wait interval ensures that the attach
+ * backoff interval does not reset on each attach and that the device does not drain its battery quickly trying to
+ * re-attach too frequently.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_MLE_ATTACH_BACKOFF_DELAY_TO_RESET_BACKOFF_INTERVAL
+#define OPENTHREAD_CONFIG_MLE_ATTACH_BACKOFF_DELAY_TO_RESET_BACKOFF_INTERVAL 20000
+#endif
+
 /**
  * @def OPENTHREAD_CONFIG_MLE_SEND_LINK_REQUEST_ON_ADV_TIMEOUT
  *
diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index 7161e8b5a..341f6010a 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -502,6 +502,11 @@ otError Mle::BecomeChild(AttachMode aMode)
     VerifyOrExit(!IsDisabled(), error = OT_ERROR_INVALID_STATE);
     VerifyOrExit(!IsAttaching(), error = OT_ERROR_BUSY);
 
+    if (!IsDetached())
+    {
+        mAttachCounter = 0;
+    }
+
     if (mReattachState == kReattachStart)
     {
         if (Get<MeshCoP::ActiveDataset>().Restore() == OT_ERROR_NONE)
@@ -652,8 +657,7 @@ void Mle::SetStateChild(uint16_t aRloc16)
     SetRloc16(aRloc16);
     SetRole(kRoleChild);
     SetAttachState(kAttachStateIdle);
-    mAttachTimer.Stop();
-    mAttachCounter       = 0;
+    mAttachTimer.Start(kAttachBackoffDelayToResetCounter);
     mReattachState       = kReattachStop;
     mChildUpdateAttempts = 0;
     mDataRequestAttempts = 0;
@@ -1667,8 +1671,8 @@ void Mle::HandleAttachTimer(void)
     switch (mAttachState)
     {
     case kAttachStateIdle:
-        OT_ASSERT(false);
-        OT_UNREACHABLE_CODE(break);
+        mAttachCounter = 0;
+        break;
 
     case kAttachStateProcessAnnounce:
         ProcessAnnounce();
@@ -3795,6 +3799,7 @@ void Mle::HandleAnnounce(const Message &aMessage, const Ip6::MessageInfo &aMessa
         mAlternatePanId     = panId;
         SetAttachState(kAttachStateProcessAnnounce);
         mAttachTimer.Start(kAnnounceProcessTimeout);
+        mAttachCounter = 0;
 
         otLogNoteMle("Delay processing Announce - channel %d, panid 0x%02x", channel, panId);
     }
diff --git a/src/core/thread/mle.hpp b/src/core/thread/mle.hpp
index 5f3e488d9..aed45f18c 100644
--- a/src/core/thread/mle.hpp
+++ b/src/core/thread/mle.hpp
@@ -1575,11 +1575,15 @@ private:
         kParentSearchBackoffInterval = (OPENTHREAD_CONFIG_PARENT_SEARCH_BACKOFF_INTERVAL * 1000u),
         kParentSearchJitterInterval  = (15 * 1000u),
         kParentSearchRssThreadhold   = OPENTHREAD_CONFIG_PARENT_SEARCH_RSS_THRESHOLD,
+    };
 
-        // Parameters for "attach backoff" feature (CONFIG_ENABLE_ATTACH_BACKOFF) - Intervals are in milliseconds.
-        kAttachBackoffMinInterval = OPENTHREAD_CONFIG_MLE_ATTACH_BACKOFF_MINIMUM_INTERVAL,
-        kAttachBackoffMaxInterval = OPENTHREAD_CONFIG_MLE_ATTACH_BACKOFF_MAXIMUM_INTERVAL,
-        kAttachBackoffJitter      = OPENTHREAD_CONFIG_MLE_ATTACH_BACKOFF_JITTER_INTERVAL,
+    // Parameters for "attach backoff" feature (CONFIG_ENABLE_ATTACH_BACKOFF) - Intervals are in milliseconds.
+    enum : uint32_t
+    {
+        kAttachBackoffMinInterval         = OPENTHREAD_CONFIG_MLE_ATTACH_BACKOFF_MINIMUM_INTERVAL,
+        kAttachBackoffMaxInterval         = OPENTHREAD_CONFIG_MLE_ATTACH_BACKOFF_MAXIMUM_INTERVAL,
+        kAttachBackoffJitter              = OPENTHREAD_CONFIG_MLE_ATTACH_BACKOFF_JITTER_INTERVAL,
+        kAttachBackoffDelayToResetCounter = OPENTHREAD_CONFIG_MLE_ATTACH_BACKOFF_DELAY_TO_RESET_BACKOFF_INTERVAL,
     };
 
     enum ParentRequestType