diff --git a/src/core/config/mle.h b/src/core/config/mle.h
index 7792c7716..df2e43e41 100644
--- a/src/core/config/mle.h
+++ b/src/core/config/mle.h
@@ -82,15 +82,6 @@
 #define OPENTHREAD_CONFIG_MLE_IP_ADDRS_PER_CHILD 4
 #endif
 
-/**
- * @def OPENTHREAD_CONFIG_MLE_IP_ADDRS_TO_REGISTER
- *
- * The maximum number of IPv6 address registrations for MTD.
- */
-#ifndef OPENTHREAD_CONFIG_MLE_IP_ADDRS_TO_REGISTER
-#define OPENTHREAD_CONFIG_MLE_IP_ADDRS_TO_REGISTER (OPENTHREAD_CONFIG_MLE_IP_ADDRS_PER_CHILD)
-#endif
-
 /**
  * @def OPENTHREAD_CONFIG_MLE_DEVICE_PROPERTY_LEADER_WEIGHT_ENABLE
  *
diff --git a/src/core/config/openthread-core-config-check.h b/src/core/config/openthread-core-config-check.h
index b6fa3f84c..4cacac022 100644
--- a/src/core/config/openthread-core-config-check.h
+++ b/src/core/config/openthread-core-config-check.h
@@ -698,4 +698,8 @@
 #error "OPENTHREAD_CONFIG_DTLS_ENABLE was replaced by OPENTHREAD_CONFIG_SECURE_TRANSPORT_ENABLE"
 #endif
 
+#ifdef OPENTHREAD_CONFIG_MLE_IP_ADDRS_TO_REGISTER
+#error "OPENTHREAD_CONFIG_MLE_IP_ADDRS_TO_REGISTER is removed. All addresses are now registered."
+#endif
+
 #endif // OT_CORE_CONFIG_OPENTHREAD_CORE_CONFIG_CHECK_H_
diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index 4ad8838a6..bb1d94fd0 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -3645,7 +3645,6 @@ Error Mle::TxMessage::AppendAddressRegistrationTlv(AddressRegistrationMode aMode
 {
     Error         error = kErrorNone;
     Tlv::Bookmark tlvBookmark;
-    uint8_t       counter = 0;
 
     SuccessOrExit(error = Tlv::StartTlv(*this, Tlv::kAddressRegistration, tlvBookmark));
 
@@ -3654,14 +3653,12 @@ Error Mle::TxMessage::AppendAddressRegistrationTlv(AddressRegistrationMode aMode
 
     // Continue to append the other addresses if not `kAppendMeshLocalOnly` mode
     VerifyOrExit(aMode != kAppendMeshLocalOnly);
-    counter++;
 
 #if OPENTHREAD_CONFIG_DUA_ENABLE
     if (Get<ThreadNetif>().HasUnicastAddress(Get<DuaManager>().GetDomainUnicastAddress()))
     {
         // Prioritize DUA, compressed entry
         SuccessOrExit(error = AppendAddressRegistrationEntry(Get<DuaManager>().GetDomainUnicastAddress()));
-        counter++;
     }
 #endif
 
@@ -3685,9 +3682,6 @@ Error Mle::TxMessage::AppendAddressRegistrationTlv(AddressRegistrationMode aMode
 #endif
 
         SuccessOrExit(error = AppendAddressRegistrationEntry(addr.GetAddress()));
-        counter++;
-        // only continue to append if there is available entry.
-        VerifyOrExit(counter < kMaxIpAddressesToRegister);
     }
 
     // Append external multicast addresses.  For sleepy end device,
@@ -3715,9 +3709,6 @@ Error Mle::TxMessage::AppendAddressRegistrationTlv(AddressRegistrationMode aMode
 #endif
 
             SuccessOrExit(error = AppendAddressRegistrationEntry(addr.GetAddress()));
-            counter++;
-            // only continue to append if there is available entry.
-            VerifyOrExit(counter < kMaxIpAddressesToRegister);
         }
     }
 
diff --git a/src/core/thread/mle.hpp b/src/core/thread/mle.hpp
index 76cbda6e7..0bf724eeb 100644
--- a/src/core/thread/mle.hpp
+++ b/src/core/thread/mle.hpp
@@ -1322,7 +1322,6 @@ private:
     static constexpr uint8_t  kMleHopLimit                   = 255;
     static constexpr uint8_t  kMleSecurityTagSize            = 4;
     static constexpr uint32_t kDefaultStoreFrameCounterAhead = OPENTHREAD_CONFIG_STORE_FRAME_COUNTER_AHEAD;
-    static constexpr uint8_t  kMaxIpAddressesToRegister      = OPENTHREAD_CONFIG_MLE_IP_ADDRS_TO_REGISTER;
     static constexpr uint32_t kDefaultChildTimeout           = OPENTHREAD_CONFIG_MLE_CHILD_TIMEOUT_DEFAULT;
     static constexpr uint32_t kDefaultCslTimeout             = OPENTHREAD_CONFIG_CSL_TIMEOUT;