diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index 7a0df26a2..7c10da011 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -334,8 +334,7 @@ void Mle::SetRole(otDeviceRole aRole)
     }
 
 #if OPENTHREAD_ENABLE_BORDER_AGENT
-    // Start border agent
-    if (aRole == OT_DEVICE_ROLE_ROUTER || aRole == OT_DEVICE_ROLE_LEADER || aRole == OT_DEVICE_ROLE_CHILD)
+    if (IsAttached())
     {
         SuccessOrExit(GetInstance().Get<MeshCoP::BorderAgent>().Start());
     }