diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index a2d670567..ee2c46a2e 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -4574,6 +4574,15 @@ void Mle::DelayedSender::ScheduleParentResponse(const ParentResponseInfo &aInfo,
     AddSchedule(kTypeParentResponse, destination, aDelay, &aInfo, sizeof(aInfo));
 }
 
+void Mle::DelayedSender::ScheduleAdvertisement(const Ip6::Address &aDestination, uint16_t aDelay)
+{
+    VerifyOrExit(!HasMatchingSchedule(kTypeAdvertisement, aDestination));
+    AddSchedule(kTypeAdvertisement, aDestination, aDelay, nullptr, 0);
+
+exit:
+    return;
+}
+
 void Mle::DelayedSender::ScheduleMulticastDataResponse(uint16_t aDelay)
 {
     Ip6::Address destination;
@@ -4717,6 +4726,10 @@ void Mle::DelayedSender::Execute(const Schedule &aSchedule)
         break;
     }
 
+    case kTypeAdvertisement:
+        Get<MleRouter>().SendAdvertisement(header.mDestination);
+        break;
+
     case kTypeDataResponse:
         Get<MleRouter>().SendMulticastDataResponse();
         break;
diff --git a/src/core/thread/mle.hpp b/src/core/thread/mle.hpp
index 8b5ec5241..4371f29e4 100644
--- a/src/core/thread/mle.hpp
+++ b/src/core/thread/mle.hpp
@@ -1139,6 +1139,7 @@ private:
         void ScheduleChildUpdateRequestToParent(uint16_t aDelay);
 #if OPENTHREAD_FTD
         void ScheduleParentResponse(const ParentResponseInfo &aInfo, uint16_t aDelay);
+        void ScheduleAdvertisement(const Ip6::Address &aDestination, uint16_t aDelay);
         void ScheduleMulticastDataResponse(uint16_t aDelay);
         void ScheduleLinkRequest(const Router &aRouter, uint16_t aDelay);
         void ScheduleLinkAccept(const LinkAcceptInfo &aInfo, uint16_t aDelay);
diff --git a/src/core/thread/mle_router.cpp b/src/core/thread/mle_router.cpp
index ca4ad041b..60fece0b1 100644
--- a/src/core/thread/mle_router.cpp
+++ b/src/core/thread/mle_router.cpp
@@ -486,7 +486,7 @@ void MleRouter::HandleAdvertiseTrickleTimer(void)
 {
     VerifyOrExit(IsRouterEligible(), mAdvertiseTrickleTimer.Stop());
 
-    SendAdvertisement();
+    SendMulticastAdvertisement();
 
 exit:
     return;
@@ -534,11 +534,27 @@ exit:
     return;
 }
 
-void MleRouter::SendAdvertisement(void)
+void MleRouter::SendMulticastAdvertisement(void)
 {
-    Error        error = kErrorNone;
     Ip6::Address destination;
-    TxMessage   *message = nullptr;
+
+    destination.SetToLinkLocalAllNodesMulticast();
+    SendAdvertisement(destination);
+}
+
+void MleRouter::ScheduleUnicastAdvertisementTo(const Router &aRouter)
+{
+    Ip6::Address destination;
+
+    destination.SetToLinkLocalAddress(aRouter.GetExtAddress());
+    mDelayedSender.ScheduleAdvertisement(destination,
+                                         Random::NonCrypto::GetUint32InRange(0, kMaxUnicastAdvertisementDelay));
+}
+
+void MleRouter::SendAdvertisement(const Ip6::Address &aDestination)
+{
+    Error      error   = kErrorNone;
+    TxMessage *message = nullptr;
 
     // Suppress MLE Advertisements when trying to attach to a better
     // partition. Without this, a candidate parent might incorrectly
@@ -574,10 +590,9 @@ void MleRouter::SendAdvertisement(void)
         OT_ASSERT(false);
     }
 
-    destination.SetToLinkLocalAllNodesMulticast();
-    SuccessOrExit(error = message->SendTo(destination));
+    SuccessOrExit(error = message->SendTo(aDestination));
 
-    Log(kMessageSend, kTypeAdvertisement, destination);
+    Log(kMessageSend, kTypeAdvertisement, aDestination);
 
 exit:
     FreeMessageOnError(message, error);
@@ -1604,7 +1619,7 @@ void MleRouter::HandleTimeTick(void)
 
             if (!mAdvertiseTrickleTimer.IsRunning())
             {
-                SendAdvertisement();
+                SendMulticastAdvertisement();
 
                 mAdvertiseTrickleTimer.Start(TrickleTimer::kModePlainTimer, kReedAdvIntervalMin, kReedAdvIntervalMax);
             }
@@ -3464,7 +3479,7 @@ void MleRouter::HandleAddressSolicitResponse(Coap::Message          *aMessage,
     // up the dissemination of the new Router ID to other routers.
     // This can also help with quicker link establishment with our
     // former parent and other routers.
-    SendAdvertisement();
+    SendMulticastAdvertisement();
 
     for (Child &child : Get<ChildTable>().Iterate(Child::kInStateChildIdRequest))
     {
diff --git a/src/core/thread/mle_router.hpp b/src/core/thread/mle_router.hpp
index f7db4cf78..42da00cf4 100644
--- a/src/core/thread/mle_router.hpp
+++ b/src/core/thread/mle_router.hpp
@@ -362,6 +362,14 @@ public:
      */
     void FillConnectivityTlv(ConnectivityTlv &aTlv);
 
+    /**
+     * Schedule tx of MLE Advertisement message (unicast) to the given neighboring router after a random delay.
+     *
+     * @param[in] aRouter  The router to send the Advertisement to.
+     *
+     */
+    void ScheduleUnicastAdvertisementTo(const Router &aRouter);
+
 #if OPENTHREAD_CONFIG_MLE_STEERING_DATA_SET_OOB_ENABLE
     /**
      * Sets steering data out of band
@@ -494,6 +502,7 @@ private:
     static constexpr uint32_t kAdvIntervalMaxLogRoutes = 5000;
 #endif
 
+    static constexpr uint32_t kMaxUnicastAdvertisementDelay  = 1000;   // Max random delay for unciast Adv tx
     static constexpr uint32_t kMaxNeighborAge                = 100000; // Max neighbor age (in msec)
     static constexpr uint32_t kMaxLeaderToRouterTimeout      = 90000;  // (in msec)
     static constexpr uint8_t  kMinDowngradeNeighbors         = 7;
@@ -616,7 +625,8 @@ private:
                                         const Router           *aRouter,
                                         const Ip6::MessageInfo &aMessageInfo);
     void     SendAddressRelease(void);
-    void     SendAdvertisement(void);
+    void     SendMulticastAdvertisement(void);
+    void     SendAdvertisement(const Ip6::Address &aDestination);
     void     SendLinkRequest(Router *aRouter);
     Error    SendLinkAccept(const LinkAcceptInfo &aInfo);
     void     SendParentResponse(const ParentResponseInfo &aInfo);
diff --git a/src/core/thread/router_table.cpp b/src/core/thread/router_table.cpp
index 9f8b7677f..ce0246371 100644
--- a/src/core/thread/router_table.cpp
+++ b/src/core/thread/router_table.cpp
@@ -596,6 +596,25 @@ void RouterTable::UpdateRoutes(const Mle::RouteTlv &aRouteTlv, uint8_t aNeighbor
                 neighbor->SetLinkQualityOut(linkQuality);
                 SignalTableChanged();
             }
+
+            // If the `aRouteTlv` indicates that the neighboring
+            // router claims to have no link to us (by setting its
+            // `GetLinkQualityOut()` towards us as `kLinkQuality0`),
+            // and we have previously established a link with it, and
+            // our two-way link quality to this router is at least
+            // `kLinkQuality2`, we schedule a unicast Advertisement to
+            // be sent to this neighbor. This helps expedite recovery
+            // from any temporary router link quality mismatch.
+            // Otherwise, the neighboring router will continue to
+            // advertise that it has no link to us until our next
+            // trickle timer-triggered Advertisement transmission
+            // (which can be up to 32 seconds later).
+
+            if (neighbor->IsStateValid() && (aRouteTlv.GetLinkQualityOut(index) == kLinkQuality0) &&
+                (neighbor->GetTwoWayLinkQuality() >= kLinkQuality2))
+            {
+                Get<Mle::MleRouter>().ScheduleUnicastAdvertisementTo(*neighbor);
+            }
         }
 
         break;