diff --git a/src/core/net/ip6.cpp b/src/core/net/ip6.cpp
index 8ccb3c7ee..ca3cd124c 100644
--- a/src/core/net/ip6.cpp
+++ b/src/core/net/ip6.cpp
@@ -972,9 +972,7 @@ Error Ip6::PassToHost(OwnedPtr<Message> &aMessagePtr,
             Udp::Header udp;
 
             IgnoreError(aMessagePtr->Read(aMessagePtr->GetOffset(), udp));
-            VerifyOrExit(Get<Udp>().ShouldUsePlatformUdp(udp.GetDestinationPort()) &&
-                             !Get<Udp>().IsPortInUse(udp.GetDestinationPort()),
-                         error = kErrorNoRoute);
+            VerifyOrExit(!Get<Udp>().IsPortInUse(udp.GetDestinationPort()), error = kErrorNoRoute);
             break;
         }
 
diff --git a/src/core/net/udp6.cpp b/src/core/net/udp6.cpp
index 15cf4e9c2..bbd91fe66 100644
--- a/src/core/net/udp6.cpp
+++ b/src/core/net/udp6.cpp
@@ -412,10 +412,6 @@ Error Udp::HandleMessage(Message &aMessage, MessageInfo &aMessageInfo)
     aMessageInfo.mPeerPort = udpHeader.GetSourcePort();
     aMessageInfo.mSockPort = udpHeader.GetDestinationPort();
 
-#if OPENTHREAD_CONFIG_PLATFORM_UDP_ENABLE
-    VerifyOrExit(!ShouldUsePlatformUdp(aMessageInfo.mSockPort) || IsPortInUse(aMessageInfo.mSockPort));
-#endif
-
     for (Receiver &receiver : mReceivers)
     {
         VerifyOrExit(!receiver.HandleMessage(aMessage, aMessageInfo));
@@ -458,28 +454,36 @@ bool Udp::IsPortInUse(uint16_t aPort) const
     return found;
 }
 
+#if OPENTHREAD_CONFIG_PLATFORM_UDP_ENABLE
+
 bool Udp::ShouldUsePlatformUdp(uint16_t aPort) const
 {
-    return (aPort != Mle::kUdpPort && aPort != Tmf::kUdpPort
+    bool shouldUse = false;
+
+    VerifyOrExit(aPort != Mle::kUdpPort);
+    VerifyOrExit(aPort != Tmf::kUdpPort);
 #if OPENTHREAD_CONFIG_DNSSD_SERVER_ENABLE && !OPENTHREAD_CONFIG_DNSSD_SERVER_BIND_UNSPECIFIED_NETIF
-            && aPort != Dns::ServiceDiscovery::Server::kPort
+    VerifyOrExit(aPort != Dns::ServiceDiscovery::Server::kPort);
 #endif
 #if OPENTHREAD_CONFIG_BORDER_AGENT_ENABLE
-            && aPort != Get<MeshCoP::BorderAgent>().GetUdpProxyPort()
+    VerifyOrExit(aPort != Get<MeshCoP::BorderAgent>().GetUdpProxyPort());
 #endif
 #if OPENTHREAD_FTD
-            && aPort != Get<MeshCoP::JoinerRouter>().GetJoinerUdpPort()
+    VerifyOrExit(aPort != Get<MeshCoP::JoinerRouter>().GetJoinerUdpPort());
 #endif
 #if OPENTHREAD_CONFIG_DHCP6_SERVER_ENABLE
-            && aPort != Dhcp6::kDhcpServerPort
+    VerifyOrExit(aPort != Dhcp6::kDhcpServerPort);
 #endif
 #if OPENTHREAD_CONFIG_DHCP6_CLIENT_ENABLE
-            && aPort != Dhcp6::kDhcpClientPort
+    VerifyOrExit(aPort != Dhcp6::kDhcpClientPort);
 #endif
-    );
+
+    shouldUse = true;
+
+exit:
+    return shouldUse;
 }
 
-#if OPENTHREAD_CONFIG_PLATFORM_UDP_ENABLE
 bool Udp::ShouldUsePlatformUdp(const Udp::SocketHandle &aSocket) const
 {
     return (ShouldUsePlatformUdp(aSocket.mSockName.mPort)
diff --git a/src/core/net/udp6.hpp b/src/core/net/udp6.hpp
index 5225ee184..f8650699d 100644
--- a/src/core/net/udp6.hpp
+++ b/src/core/net/udp6.hpp
@@ -634,16 +634,6 @@ public:
      */
     bool IsPortInUse(uint16_t aPort) const;
 
-    /**
-     * Returns whether a udp port belongs to the platform or the stack.
-     *
-     * @param[in]   aPort       The udp port
-     *
-     * @retval True when the port belongs to the platform.
-     * @retval False when the port belongs to the stack.
-     */
-    bool ShouldUsePlatformUdp(uint16_t aPort) const;
-
 private:
     static constexpr uint16_t kDynamicPortMin = 49152; // Service Name and Transport Protocol Port Number Registry
     static constexpr uint16_t kDynamicPortMax = 65535; // Service Name and Transport Protocol Port Number Registry
@@ -657,6 +647,7 @@ private:
     void AddSocket(SocketHandle &aSocket);
     void RemoveSocket(SocketHandle &aSocket);
 #if OPENTHREAD_CONFIG_PLATFORM_UDP_ENABLE
+    bool ShouldUsePlatformUdp(uint16_t aPort) const;
     bool ShouldUsePlatformUdp(const SocketHandle &aSocket) const;
 #endif