diff --git a/.codecov.yml b/.codecov.yml
index 6d5d5071b..c7310f3e0 100644
--- a/.codecov.yml
+++ b/.codecov.yml
@@ -9,4 +9,4 @@ ignore:
 
 comment:
   layout: "diff, flags, files"
-  after_n_builds: 15
+  after_n_builds: 16
diff --git a/.github/workflows/simulation.yml b/.github/workflows/simulation.yml
index c8c47123f..ef60998cb 100644
--- a/.github/workflows/simulation.yml
+++ b/.github/workflows/simulation.yml
@@ -62,6 +62,34 @@ jobs:
         ./bootstrap
         make -f examples/Makefile-simulation distcheck
 
+  cli-ftd-otns:
+    runs-on: ubuntu-18.04
+    env:
+      CFLAGS: -m32
+      CXXFLAGS: -m32
+      LDFLAGS: -m32
+      COVERAGE: 1
+      REFERENCE_DEVICE: 1
+      VIRTUAL_TIME: 1
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-go@v1
+      with:
+        go-version: '1.13'
+    - name: Bootstrap
+      run: |
+        sudo apt update
+        sudo apt --no-install-recommends install -y g++-multilib
+        ./bootstrap
+    - name: Run OTNS Tests
+      run: |
+        git clone https://github.com/openthread/ot-ns.git --depth 1 --branch master ~/otns
+        export OTDIR=$PWD
+        cd ~/otns
+        ./script/test py-unittests py-examples
+    - name: Codecov
+      uses: codecov/codecov-action@v1
+
   cli-ftd:
     runs-on: ubuntu-18.04
     env:
diff --git a/script/check-simulation-build-autotools b/script/check-simulation-build-autotools
index 3f67913f4..c1a50415b 100755
--- a/script/check-simulation-build-autotools
+++ b/script/check-simulation-build-autotools
@@ -107,6 +107,10 @@ build_all_features()
     export CPPFLAGS="${options[*]} -DOPENTHREAD_CONFIG_ASSERT_ENABLE=0"
     reset_source
     make -f examples/Makefile-simulation
+
+    export CPPFLAGS="${options[*]}"
+    reset_source
+    make -f examples/Makefile-simulation OTNS=1
 }
 
 build_nest_common()
diff --git a/script/check-simulation-build-cmake b/script/check-simulation-build-cmake
index 00c20807c..cc93ec58a 100755
--- a/script/check-simulation-build-cmake
+++ b/script/check-simulation-build-cmake
@@ -78,6 +78,12 @@ build_all_features()
     cmake -GNinja "${options[@]}" ..
     ninja
     cd "$OT_SRCDIR"
+
+    reset_source
+    mkdir build && cd build
+    cmake -GNinja "${options[@]}" -DOT_OTNS=on -DOT_SIMULATION_VIRTUAL_TIME=on ..
+    ninja
+    cd ..
 }
 
 build_toranj()
diff --git a/tests/unit/test_platform.cpp b/tests/unit/test_platform.cpp
index ad51f46ae..626307143 100644
--- a/tests/unit/test_platform.cpp
+++ b/tests/unit/test_platform.cpp
@@ -627,4 +627,11 @@ uint16_t otPlatTimeGetXtalAccuracy(void)
 }
 #endif // OPENTHREAD_CONFIG_TIME_SYNC_ENABLE
 
+#if OPENTHREAD_CONFIG_OTNS_ENABLE
+void otPlatOtnsStatus(const char *aStatus)
+{
+    OT_UNUSED_VARIABLE(aStatus);
+}
+#endif // OPENTHREAD_CONFIG_OTNS_ENABLE
+
 } // extern "C"