diff --git a/etc/cmake/options.cmake b/etc/cmake/options.cmake
index ecb2d52d3..05176dea2 100644
--- a/etc/cmake/options.cmake
+++ b/etc/cmake/options.cmake
@@ -218,6 +218,7 @@ ot_option(OT_MESH_DIAG OPENTHREAD_CONFIG_MESH_DIAG_ENABLE "mesh diag")
 ot_option(OT_MESSAGE_USE_HEAP OPENTHREAD_CONFIG_MESSAGE_USE_HEAP_ENABLE "heap allocator for message buffers")
 ot_option(OT_MLE_LONG_ROUTES OPENTHREAD_CONFIG_MLE_LONG_ROUTES_ENABLE "MLE long routes extension (experimental)")
 ot_option(OT_MLR OPENTHREAD_CONFIG_MLR_ENABLE "Multicast Listener Registration (MLR)")
+ot_option(OT_MULTIPAN_RCP OPENTHREAD_CONFIG_MULTIPAN_RCP_ENABLE "enable multi-PAN RCP")
 ot_option(OT_MULTIPLE_INSTANCE OPENTHREAD_CONFIG_MULTIPLE_INSTANCE_ENABLE "multiple instances")
 ot_option(OT_NAT64_BORDER_ROUTING OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE "border routing NAT64")
 ot_option(OT_NAT64_TRANSLATOR OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE "NAT64 translator support")
@@ -248,7 +249,6 @@ ot_option(OT_UDP_FORWARD OPENTHREAD_CONFIG_UDP_FORWARD_ENABLE "UDP forward")
 ot_option(OT_UPTIME OPENTHREAD_CONFIG_UPTIME_ENABLE "uptime")
 
 option(OT_DOC "build OpenThread documentation")
-option(OT_MULTIPAN_RCP "Multi-PAN RCP" OFF)
 message(STATUS "- - - - - - - - - - - - - - - - ")
 
 # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
diff --git a/src/lib/spinel/radio_spinel.cpp b/src/lib/spinel/radio_spinel.cpp
index 15d90b542..6b03b5b30 100644
--- a/src/lib/spinel/radio_spinel.cpp
+++ b/src/lib/spinel/radio_spinel.cpp
@@ -2138,12 +2138,22 @@ void RadioSpinel::RecoverFromRcpFailure(void)
     case kStateSleep:
         break;
     case kStateReceive:
+#if OPENTHREAD_CONFIG_MULTIPAN_RCP_ENABLE
+        // In case multiple PANs are running, don't force RCP to receive state.
+        IgnoreError(Set(SPINEL_PROP_MAC_RAW_STREAM_ENABLED, SPINEL_DATATYPE_BOOL_S, true));
+#else
         SuccessOrDie(Set(SPINEL_PROP_MAC_RAW_STREAM_ENABLED, SPINEL_DATATYPE_BOOL_S, true));
+#endif
         mState = kStateReceive;
         break;
     case kStateTransmitting:
     case kStateTransmitDone:
+#if OPENTHREAD_CONFIG_MULTIPAN_RCP_ENABLE
+        // In case multiple PANs are running, don't force RCP to receive state.
+        IgnoreError(Set(SPINEL_PROP_MAC_RAW_STREAM_ENABLED, SPINEL_DATATYPE_BOOL_S, true));
+#else
         SuccessOrDie(Set(SPINEL_PROP_MAC_RAW_STREAM_ENABLED, SPINEL_DATATYPE_BOOL_S, true));
+#endif
         mTxError = OT_ERROR_ABORT;
         mState   = kStateTransmitDone;
         break;
@@ -2168,7 +2178,12 @@ void RadioSpinel::RestoreProperties(void)
     SuccessOrDie(Set(SPINEL_PROP_MAC_15_4_PANID, SPINEL_DATATYPE_UINT16_S, mPanId));
     SuccessOrDie(Set(SPINEL_PROP_MAC_15_4_SADDR, SPINEL_DATATYPE_UINT16_S, mShortAddress));
     SuccessOrDie(Set(SPINEL_PROP_MAC_15_4_LADDR, SPINEL_DATATYPE_EUI64_S, mExtendedAddress.m8));
+#if OPENTHREAD_CONFIG_MULTIPAN_RCP_ENABLE
+    // In case multiple PANs are running, don't force RCP to change channel.
+    IgnoreError(Set(SPINEL_PROP_PHY_CHAN, SPINEL_DATATYPE_UINT8_S, mChannel));
+#else
     SuccessOrDie(Set(SPINEL_PROP_PHY_CHAN, SPINEL_DATATYPE_UINT8_S, mChannel));
+#endif
 
     if (mMacKeySet)
     {