diff --git a/src/lib/spinel/radio_spinel_impl.hpp b/src/lib/spinel/radio_spinel_impl.hpp
index 2fec895fb..837ec6d33 100644
--- a/src/lib/spinel/radio_spinel_impl.hpp
+++ b/src/lib/spinel/radio_spinel_impl.hpp
@@ -2193,6 +2193,7 @@ void RadioSpinel<InterfaceType, ProcessContextType>::RecoverFromRcpFailure(void)
     mTxRadioTid   = 0;
     mWaitingTid   = 0;
     mWaitingKey   = SPINEL_PROP_LAST_STATUS;
+    mError        = OT_ERROR_NONE;
     mIsReady      = false;
     mIsTimeSynced = false;
 
diff --git a/tests/scripts/expect/posix-rcp-restoration.exp b/tests/scripts/expect/posix-rcp-restoration.exp
index 19e1b2a2a..2222432cb 100755
--- a/tests/scripts/expect/posix-rcp-restoration.exp
+++ b/tests/scripts/expect/posix-rcp-restoration.exp
@@ -74,6 +74,7 @@ try {
     expect "ipaddr mleid"
     expect -re {(([0-9a-fA-F]{1,4}:){7,7}[0-9a-fA-F]{1,4})}
     set addr_2 $expect_out(1,string)
+    expect "Done"
     send "udp open\n"
     expect "Done"
     send "udp bind :: 11003\n"
@@ -88,6 +89,7 @@ try {
     expect "ipaddr mleid"
     expect -re {(([0-9a-fA-F]{1,4}:){7,7}[0-9a-fA-F]{1,4})}
     set addr_1 $expect_out(1,string)
+    expect "Done"
     send "udp open\n"
     expect "Done"
     send "udp bind :: 11004\n"
@@ -107,6 +109,8 @@ try {
     set rcp_pid [exec $::env(OT_SIMULATION_APPS)/ncp/ot-rcp 1 < $radio_pty > $radio_pty &]
     puts "RCP PID: $rcp_pid"
 
+    sleep 1
+
     switch_node 2
     send "pollperiod 1000\n"
     expect "Done"
@@ -134,6 +138,7 @@ try {
     expect "ipaddr mleid"
     expect -re {(([0-9a-fA-F]{1,4}:){7,7}[0-9a-fA-F]{1,4})}
     set addr_2 $expect_out(1,string)
+    expect "Done"
     send "udp open\n"
     expect "Done"
     send "udp bind :: 11003\n"
@@ -148,6 +153,7 @@ try {
     expect "ipaddr mleid"
     expect -re {(([0-9a-fA-F]{1,4}:){7,7}[0-9a-fA-F]{1,4})}
     set addr_1 $expect_out(1,string)
+    expect "Done"
     send "udp open\n"
     expect "Done"
     send "udp bind :: 11004\n"
@@ -196,6 +202,7 @@ try {
     expect "ipaddr mleid"
     expect -re {(([0-9a-fA-F]{1,4}:){7,7}[0-9a-fA-F]{1,4})}
     set addr(1) $expect_out(1,string)
+    expect "Done"
     send "udp open\n"
     expect "Done"
     send "udp bind :: 11004\n"
@@ -242,6 +249,8 @@ try {
     set rcp_pid [exec $::env(OT_SIMULATION_APPS)/ncp/ot-rcp 1 < $radio_pty > $radio_pty &]
     puts "RCP PID: $rcp_pid"
 
+    sleep 1
+
     for {set i 7} {$i <= 9} {incr i} {
         switch_node $i
         send "pollperiod 1000\n"
@@ -264,6 +273,8 @@ try {
     set rcp_pid [exec $::env(OT_SIMULATION_APPS)/ncp/ot-rcp 1 < $radio_pty > $radio_pty &]
     puts "RCP PID: $rcp_pid"
 
+    sleep 1
+
     switch_node 5
     send "pollperiod 1000\n"
     expect "Done"
@@ -294,6 +305,8 @@ try {
     set rcp_pid [exec $::env(OT_SIMULATION_APPS)/ncp/ot-rcp 1 < $radio_pty > $radio_pty &]
     puts "RCP PID: $rcp_pid"
 
+    sleep 1
+
     for {set i 11} {$i <= 26} {incr i} {
         expect -re "\\| +$i \\| +-?\\d+ \\|"
     }