diff --git a/src/core/border_router/routing_manager.cpp b/src/core/border_router/routing_manager.cpp
index 7e8a08947..e48536819 100644
--- a/src/core/border_router/routing_manager.cpp
+++ b/src/core/border_router/routing_manager.cpp
@@ -342,6 +342,9 @@ void RoutingManager::Start(void)
         mOmrPrefixManager.Start();
         mRoutePublisher.Start();
         mRsSender.Start();
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_DHCP6_PD_ENABLE
+        mPdPrefixManager.Start();
+#endif
 #if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
         mNat64PrefixManager.Start();
 #endif
@@ -354,7 +357,9 @@ void RoutingManager::Stop(void)
 
     mOmrPrefixManager.Stop();
     mOnLinkPrefixManager.Stop();
-
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_DHCP6_PD_ENABLE
+    mPdPrefixManager.Stop();
+#endif
 #if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
     mNat64PrefixManager.Stop();
 #endif
@@ -3429,14 +3434,76 @@ exit:
 }
 
 #if OPENTHREAD_CONFIG_BORDER_ROUTING_DHCP6_PD_ENABLE
+const char *RoutingManager::PdPrefixManager::StateToString(Dhcp6PdState aState)
+{
+    static const char *const kStateStrings[] = {
+        "Disabled", // (0) kDisabled
+        "Stopped",  // (1) kStopped
+        "Running",  // (2) kRunning
+    };
+
+    static_assert(0 == kDhcp6PdStateDisabled, "kDhcp6PdStateDisabled value is incorrect");
+    static_assert(1 == kDhcp6PdStateStopped, "kDhcp6PdStateStopped value is incorrect");
+    static_assert(2 == kDhcp6PdStateRunning, "kDhcp6PdStateRunning value is incorrect");
+
+    return kStateStrings[aState];
+}
+
 RoutingManager::PdPrefixManager::PdPrefixManager(Instance &aInstance)
     : InstanceLocator(aInstance)
     , mEnabled(false)
+    , mIsRunning(false)
     , mTimer(aInstance)
 {
     mPrefix.Clear();
 }
 
+void RoutingManager::PdPrefixManager::StartStop(bool aStart)
+{
+    Dhcp6PdState oldState = GetState();
+
+    VerifyOrExit(aStart != mIsRunning);
+    mIsRunning = aStart;
+    EvaluateStateChange(oldState);
+
+exit:
+    return;
+}
+
+RoutingManager::Dhcp6PdState RoutingManager::PdPrefixManager::GetState(void) const
+{
+    Dhcp6PdState state = kDhcp6PdStateDisabled;
+
+    if (mEnabled)
+    {
+        state = mIsRunning ? kDhcp6PdStateRunning : kDhcp6PdStateStopped;
+    }
+
+    return state;
+}
+
+void RoutingManager::PdPrefixManager::EvaluateStateChange(Dhcp6PdState aOldState)
+{
+    Dhcp6PdState newState = GetState();
+
+    VerifyOrExit(aOldState != newState);
+    LogInfo("PdPrefixManager: %s -> %s", StateToString(aOldState), StateToString(newState));
+
+    // TODO: We may also want to inform the platform that PD is stopped.
+    switch (newState)
+    {
+    case kDhcp6PdStateDisabled:
+    case kDhcp6PdStateStopped:
+        WithdrawPrefix();
+        break;
+    case kDhcp6PdStateRunning:
+        break;
+    }
+
+exit:
+    return;
+}
+
 Error RoutingManager::PdPrefixManager::GetPrefixInfo(PrefixTableEntry &aInfo) const
 {
     Error error = kErrorNone;
@@ -3472,7 +3539,7 @@ void RoutingManager::PdPrefixManager::ProcessPlatformGeneratedRa(const uint8_t *
     Error                                     error = kErrorNone;
     Ip6::Nd::RouterAdvertMessage::Icmp6Packet packet;
 
-    VerifyOrExit(mEnabled, LogWarn("Ignore platform generated RA since PD is disabled."));
+    VerifyOrExit(IsRunning(), LogWarn("Ignore platform generated RA since PD is disabled or not running."));
     packet.Init(aRouterAdvert, aLength);
     error = Process(Ip6::Nd::RouterAdvertMessage(packet));
 
@@ -3563,15 +3630,11 @@ exit:
 
 void RoutingManager::PdPrefixManager::SetEnabled(bool aEnabled)
 {
+    Dhcp6PdState oldState = GetState();
+
     VerifyOrExit(mEnabled != aEnabled);
-
     mEnabled = aEnabled;
-    if (!aEnabled)
-    {
-        WithdrawPrefix();
-    }
-
-    LogInfo("PdPrefixManager is %s", aEnabled ? "enabled" : "disabled");
+    EvaluateStateChange(oldState);
 
 exit:
     return;
diff --git a/src/core/border_router/routing_manager.hpp b/src/core/border_router/routing_manager.hpp
index f0d824e82..10062e8f6 100644
--- a/src/core/border_router/routing_manager.hpp
+++ b/src/core/border_router/routing_manager.hpp
@@ -121,9 +121,9 @@ public:
      */
     enum Dhcp6PdState : uint8_t
     {
-        kDhcp6PdStateDisabled = OT_BORDER_ROUTING_STATE_DISABLED, ///< Disabled.
-        kDhcp6PdStateStopped  = OT_BORDER_ROUTING_STATE_STOPPED,  ///< Enabled, but currently stopped.
-        kDhcp6PdStateRunning  = OT_BORDER_ROUTING_STATE_RUNNING,  ///< Enabled, and running.
+        kDhcp6PdStateDisabled = OT_BORDER_ROUTING_DHCP6_PD_STATE_DISABLED, ///< Disabled.
+        kDhcp6PdStateStopped  = OT_BORDER_ROUTING_DHCP6_PD_STATE_STOPPED,  ///< Enabled, but currently stopped.
+        kDhcp6PdStateRunning  = OT_BORDER_ROUTING_DHCP6_PD_STATE_RUNNING,  ///< Enabled, and running.
     };
 
     /**
@@ -1169,20 +1169,19 @@ private:
         explicit PdPrefixManager(Instance &aInstance);
 
         void               SetEnabled(bool aEnabled);
+        void               Start(void) { StartStop(/* aStart= */ true); }
+        void               Stop(void) { StartStop(/* aStart= */ false); }
         bool               IsRunning(void) const { return GetState() == Dhcp6PdState::kDhcp6PdStateRunning; }
         bool               HasPrefix(void) const { return IsValidOmrPrefix(mPrefix.GetPrefix()); }
         const Ip6::Prefix &GetPrefix(void) const { return mPrefix.GetPrefix(); }
-        Dhcp6PdState       GetState(void) const
-        {
-            // TODO: We need to stop and inform the platform when there is already a GUA prefix advertised in the
-            // network.
-            return mEnabled ? kDhcp6PdStateRunning : kDhcp6PdStateDisabled;
-        }
+        Dhcp6PdState       GetState(void) const;
 
         void  ProcessPlatformGeneratedRa(const uint8_t *aRouterAdvert, uint16_t aLength);
         Error GetPrefixInfo(PrefixTableEntry &aInfo) const;
         void  HandleTimer(void) { WithdrawPrefix(); }
 
+        static const char *StateToString(Dhcp6PdState aState);
+
         static bool IsValidPdPrefix(const Ip6::Prefix &aPrefix)
         {
             // We should accept ULA prefix since it could be used by the internet infrastructure like NAT64.
@@ -1192,11 +1191,14 @@ private:
 
     private:
         Error Process(const Ip6::Nd::RouterAdvertMessage &aMessage);
+        void  EvaluateStateChange(Dhcp6PdState aOldState);
         void  WithdrawPrefix(void);
+        void  StartStop(bool aStart);
 
         using PlatformOmrPrefixTimer = TimerMilliIn<RoutingManager, &RoutingManager::HandlePdPrefixManagerTimer>;
 
         bool                         mEnabled;
+        bool                         mIsRunning;
         PlatformOmrPrefixTimer       mTimer;
         DiscoveredPrefixTable::Entry mPrefix;
     };