diff --git a/src/core/api/child_supervision_api.cpp b/src/core/api/child_supervision_api.cpp
index 8f6f0b54f..6cab46de2 100644
--- a/src/core/api/child_supervision_api.cpp
+++ b/src/core/api/child_supervision_api.cpp
@@ -42,6 +42,8 @@
 
 using namespace ot;
 
+#if OPENTHREAD_FTD
+
 uint16_t otChildSupervisionGetInterval(otInstance *aInstance)
 {
     Instance &instance = *static_cast<Instance *>(aInstance);
@@ -56,6 +58,8 @@ void otChildSupervisionSetInterval(otInstance *aInstance, uint16_t aInterval)
     instance.Get<Utils::ChildSupervisor>().SetSupervisionInterval(aInterval);
 }
 
+#endif
+
 uint16_t otChildSupervisionGetCheckTimeout(otInstance *aInstance)
 {
     Instance &instance = *static_cast<Instance *>(aInstance);
diff --git a/src/core/common/instance.hpp b/src/core/common/instance.hpp
index cbffac0e5..3ffd8c855 100644
--- a/src/core/common/instance.hpp
+++ b/src/core/common/instance.hpp
@@ -780,15 +780,18 @@ template <> inline Sntp::Client &Instance::Get(void)
 }
 #endif
 
+#if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
+#if OPENTHREAD_FTD
 template <> inline Utils::ChildSupervisor &Instance::Get(void)
 {
     return mThreadNetif.mChildSupervisor;
 }
-
+#endif
 template <> inline Utils::SupervisionListener &Instance::Get(void)
 {
     return mThreadNetif.mSupervisionListener;
 }
+#endif
 
 #if OPENTHREAD_CONFIG_PING_SENDER_ENABLE
 template <> inline Utils::PingSender &Instance::Get(void)
diff --git a/src/core/thread/indirect_sender.cpp b/src/core/thread/indirect_sender.cpp
index 393efd69e..ed77a4524 100644
--- a/src/core/thread/indirect_sender.cpp
+++ b/src/core/thread/indirect_sender.cpp
@@ -423,10 +423,12 @@ void IndirectSender::HandleSentFrameToChild(const Mac::TxFrame &aFrame,
 
     VerifyOrExit(mEnabled);
 
+#if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
     if (aError == kErrorNone)
     {
         Get<Utils::ChildSupervisor>().UpdateOnSend(aChild);
     }
+#endif
 
     // A zero `nextOffset` indicates that the sent frame is an empty
     // frame generated by `PrepareFrameForChild()` when there was no
diff --git a/src/core/thread/mesh_forwarder.cpp b/src/core/thread/mesh_forwarder.cpp
index ca9d1cdbb..c1a649abf 100644
--- a/src/core/thread/mesh_forwarder.cpp
+++ b/src/core/thread/mesh_forwarder.cpp
@@ -407,12 +407,16 @@ void MeshForwarder::SetRxOnWhenIdle(bool aRxOnWhenIdle)
     if (aRxOnWhenIdle)
     {
         mDataPollSender.StopPolling();
+#if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
         Get<Utils::SupervisionListener>().Stop();
+#endif
     }
     else
     {
         mDataPollSender.StartPolling();
+#if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
         Get<Utils::SupervisionListener>().Start();
+#endif
     }
 }
 
@@ -1111,7 +1115,9 @@ void MeshForwarder::HandleReceivedFrame(Mac::RxFrame &aFrame)
     payload       = aFrame.GetPayload();
     payloadLength = aFrame.GetPayloadLength();
 
+#if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
     Get<Utils::SupervisionListener>().UpdateOnReceive(macSource, linkInfo.IsLinkSecurityEnabled());
+#endif
 
     switch (aFrame.GetType())
     {
diff --git a/src/core/thread/mesh_forwarder_ftd.cpp b/src/core/thread/mesh_forwarder_ftd.cpp
index ed3688f33..49077aba8 100644
--- a/src/core/thread/mesh_forwarder_ftd.cpp
+++ b/src/core/thread/mesh_forwarder_ftd.cpp
@@ -117,6 +117,7 @@ Error MeshForwarder::SendMessage(Message &aMessage)
         break;
     }
 
+#if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
     case Message::kTypeSupervision:
     {
         Child *child = Get<Utils::ChildSupervisor>().GetDestination(aMessage);
@@ -124,6 +125,7 @@ Error MeshForwarder::SendMessage(Message &aMessage)
         mIndirectSender.AddMessageForSleepyChild(aMessage, *child);
         break;
     }
+#endif
 
     default:
         aMessage.SetDirectTransmission();
diff --git a/src/core/thread/thread_netif.cpp b/src/core/thread/thread_netif.cpp
index 5ce526c99..3c522fbd7 100644
--- a/src/core/thread/thread_netif.cpp
+++ b/src/core/thread/thread_netif.cpp
@@ -139,8 +139,12 @@ ThreadNetif::ThreadNetif(Instance &aInstance)
     , mSrpServer(aInstance)
 #endif
 
+#if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
+#if OPENTHREAD_FTD
     , mChildSupervisor(aInstance)
+#endif
     , mSupervisionListener(aInstance)
+#endif
     , mAnnounceBegin(aInstance)
     , mPanIdQuery(aInstance)
     , mEnergyScan(aInstance)
diff --git a/src/core/thread/thread_netif.hpp b/src/core/thread/thread_netif.hpp
index 694280283..0a39c9955 100644
--- a/src/core/thread/thread_netif.hpp
+++ b/src/core/thread/thread_netif.hpp
@@ -288,11 +288,15 @@ private:
     Srp::Server mSrpServer;
 #endif
 
-    Utils::ChildSupervisor     mChildSupervisor;
+#if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
+#if OPENTHREAD_FTD
+    Utils::ChildSupervisor mChildSupervisor;
+#endif
     Utils::SupervisionListener mSupervisionListener;
-    AnnounceBeginServer        mAnnounceBegin;
-    PanIdQueryServer           mPanIdQuery;
-    EnergyScanServer           mEnergyScan;
+#endif
+    AnnounceBeginServer mAnnounceBegin;
+    PanIdQueryServer    mPanIdQuery;
+    EnergyScanServer    mEnergyScan;
 
 #if OPENTHREAD_CONFIG_TIME_SYNC_ENABLE
     TimeSync mTimeSync;
diff --git a/src/core/utils/child_supervision.hpp b/src/core/utils/child_supervision.hpp
index e11148f6f..4638e7488 100644
--- a/src/core/utils/child_supervision.hpp
+++ b/src/core/utils/child_supervision.hpp
@@ -85,7 +85,9 @@ namespace Utils {
  *
  */
 
-#if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE && OPENTHREAD_FTD
+#if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
+
+#if OPENTHREAD_FTD
 
 /**
  * This class implements a child supervisor.
@@ -171,23 +173,7 @@ private:
     uint16_t mSupervisionInterval;
 };
 
-#else // #if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE && OPENTHREAD_FTD
-
-class ChildSupervisor
-{
-public:
-    explicit ChildSupervisor(otInstance &) {}
-    void     Start(void) {}
-    void     Stop(void) {}
-    void     SetSupervisionInterval(uint16_t) {}
-    uint16_t GetSupervisionInterval(void) const { return 0; }
-    Child *  GetDestination(const Message &) const { return nullptr; }
-    void     UpdateOnSend(Child &) {}
-};
-
-#endif // #if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE && OPENTHREAD_FTD
-
-#if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
+#endif // #if OPENTHREAD_FTD
 
 /**
  * This class implements a child supervision listener.
@@ -262,19 +248,6 @@ private:
     TimerMilli mTimer;
 };
 
-#else // #if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
-
-class SupervisionListener : private NonCopyable
-{
-public:
-    SupervisionListener(otInstance &) {}
-    void     Start(void) {}
-    void     Stop(void) {}
-    void     SetTimeout(uint16_t) {}
-    uint16_t GetTimeout(void) const { return 0; }
-    void     UpdateOnReceive(const Mac::Address &, bool) {}
-};
-
 #endif // #if OPENTHREAD_CONFIG_CHILD_SUPERVISION_ENABLE
 
 /**