diff --git a/src/core/thread/router_table.cpp b/src/core/thread/router_table.cpp
index 306a154ba..71d78c8f2 100644
--- a/src/core/thread/router_table.cpp
+++ b/src/core/thread/router_table.cpp
@@ -47,6 +47,7 @@ RegisterLogModule("RouterTable");
 RouterTable::RouterTable(Instance &aInstance)
     : InstanceLocator(aInstance)
     , mRouters(aInstance)
+    , mChangedTask(aInstance)
     , mRouterIdSequenceLastUpdated(0)
     , mRouterIdSequence(Random::NonCrypto::GetUint8())
 #if OPENTHREAD_CONFIG_REFERENCE_DEVICE_ENABLE
@@ -62,6 +63,7 @@ void RouterTable::Clear(void)
     ClearNeighbors();
     mRouterIdMap.Clear();
     mRouters.Clear();
+    SignalTableChanged();
 }
 
 void RouterTable::ClearNeighbors(void)
@@ -71,6 +73,7 @@ void RouterTable::ClearNeighbors(void)
         if (router.IsStateValid())
         {
             Get<NeighborTable>().Signal(NeighborTable::kRouterRemoved, router);
+            SignalTableChanged();
         }
 
         router.SetState(Neighbor::kStateInvalid);
@@ -91,6 +94,7 @@ Router *RouterTable::AddRouter(uint8_t aRouterId)
     router->SetNextHopToInvalid();
 
     mRouterIdMap.SetIndex(aRouterId, mRouters.IndexOf(*router));
+    SignalTableChanged();
 
 exit:
     return router;
@@ -117,6 +121,8 @@ void RouterTable::RemoveRouter(Router &aRouter)
     {
         mRouterIdMap.SetIndex(aRouter.GetRouterId(), mRouters.IndexOf((aRouter)));
     }
+
+    SignalTableChanged();
 }
 
 Router *RouterTable::Allocate(void)
@@ -221,6 +227,7 @@ void RouterTable::RemoveRouterLink(Router &aRouter)
     {
         aRouter.SetLinkQualityOut(kLinkQuality0);
         aRouter.SetLastHeard(TimerMilli::GetNow());
+        SignalTableChanged();
     }
 
     for (Router &router : mRouters)
@@ -228,6 +235,7 @@ void RouterTable::RemoveRouterLink(Router &aRouter)
         if (router.GetNextHop() == aRouter.GetRouterId())
         {
             router.SetNextHopToInvalid();
+            SignalTableChanged();
 
             if (GetLinkCost(router) >= Mle::kMaxRouteCost)
             {
@@ -500,7 +508,6 @@ uint16_t RouterTable::GetNextHop(uint16_t aDestRloc16) const
 void RouterTable::UpdateRouterIdSet(uint8_t aRouterIdSequence, const Mle::RouterIdSet &aRouterIdSet)
 {
     bool shouldAdd = false;
-    bool changed   = false;
 
     mRouterIdSequence            = aRouterIdSequence;
     mRouterIdSequenceLastUpdated = TimerMilli::GetNow();
@@ -523,7 +530,6 @@ void RouterTable::UpdateRouterIdSet(uint8_t aRouterIdSequence, const Mle::Router
             router->SetNextHopToInvalid();
             RemoveRouterLink(*router);
             RemoveRouter(*router);
-            changed = true;
         }
         else
         {
@@ -540,23 +546,18 @@ void RouterTable::UpdateRouterIdSet(uint8_t aRouterIdSequence, const Mle::Router
         if (!IsAllocated(routerId) && aRouterIdSet.Contains(routerId))
         {
             AddRouter(routerId);
-            changed = true;
         }
     }
 
     Get<Mle::MleRouter>().ResetAdvertiseInterval();
 
 exit:
-    if (changed)
-    {
-        LogRouteTable();
-    }
+    return;
 }
 
 void RouterTable::UpdateRoutes(const Mle::RouteTlv &aRouteTlv, uint8_t aNeighborId)
 {
     Router          *neighbor;
-    bool             changed = false;
     Mle::RouterIdSet finitePathCostIdSet;
     uint8_t          linkCostToNeighbor;
 
@@ -598,7 +599,7 @@ void RouterTable::UpdateRoutes(const Mle::RouteTlv &aRouteTlv, uint8_t aNeighbor
             if (neighbor->GetLinkQualityOut() != linkQuality)
             {
                 neighbor->SetLinkQualityOut(linkQuality);
-                changed = true;
+                SignalTableChanged();
             }
         }
 
@@ -639,14 +640,14 @@ void RouterTable::UpdateRoutes(const Mle::RouteTlv &aRouteTlv, uint8_t aNeighbor
             {
                 if (router->SetNextHopAndCost(aNeighborId, cost))
                 {
-                    changed = true;
+                    SignalTableChanged();
                 }
             }
             else if (nextHop == neighbor)
             {
                 router->SetNextHopToInvalid();
                 router->SetLastHeard(TimerMilli::GetNow());
-                changed = true;
+                SignalTableChanged();
             }
         }
         else
@@ -657,7 +658,7 @@ void RouterTable::UpdateRoutes(const Mle::RouteTlv &aRouteTlv, uint8_t aNeighbor
             if (newCost < curCost)
             {
                 router->SetNextHopAndCost(aNeighborId, cost);
-                changed = true;
+                SignalTableChanged();
             }
         }
     }
@@ -674,19 +675,12 @@ void RouterTable::UpdateRoutes(const Mle::RouteTlv &aRouteTlv, uint8_t aNeighbor
         }
     }
 
-    if (changed)
-    {
-        LogRouteTable();
-    }
-
 exit:
     return;
 }
 
 void RouterTable::UpdateRoutesOnFed(const Mle::RouteTlv &aRouteTlv, uint8_t aParentId)
 {
-    bool changed = false;
-
     for (uint8_t routerId = 0, index = 0; routerId <= Mle::kMaxRouterId;
          index += aRouteTlv.IsRouterIdSet(routerId) ? 1 : 0, routerId++)
     {
@@ -711,14 +705,9 @@ void RouterTable::UpdateRoutesOnFed(const Mle::RouteTlv &aRouteTlv, uint8_t aPar
 
         if (router->SetNextHopAndCost(nextHopId, cost))
         {
-            changed = true;
+            SignalTableChanged();
         }
     }
-
-    if (changed)
-    {
-        LogRouteTable();
-    }
 }
 
 void RouterTable::FillRouteTlv(Mle::RouteTlv &aRouteTlv, const Neighbor *aNeighbor) const
@@ -875,8 +864,17 @@ void RouterTable::RouterIdMap::HandleTimeTick(void)
     }
 }
 
+void RouterTable::SignalTableChanged(void) { mChangedTask.Post(); }
+
+void RouterTable::HandleTableChanged(void)
+{
 #if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_INFO)
-void RouterTable::LogRouteTable(void) const
+    LogRouteTable();
+#endif
+}
+
+#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_INFO)
+void RouterTable::LogRouteTable(void)
 {
     static constexpr uint16_t kStringSize = 128;
 
diff --git a/src/core/thread/router_table.hpp b/src/core/thread/router_table.hpp
index d84ad9164..1e4e5da4b 100644
--- a/src/core/thread/router_table.hpp
+++ b/src/core/thread/router_table.hpp
@@ -39,6 +39,7 @@
 #include "common/iterator_utils.hpp"
 #include "common/locator.hpp"
 #include "common/non_copyable.hpp"
+#include "common/tasklet.hpp"
 #include "mac/mac_types.hpp"
 #include "thread/mle_tlvs.hpp"
 #include "thread/mle_types.hpp"
@@ -416,16 +417,6 @@ public:
     Error SetRouterIdRange(uint8_t aMinRouterId, uint8_t aMaxRouterId);
 #endif
 
-#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_INFO)
-    /**
-     * This method logs the route table.
-     *
-     */
-    void LogRouteTable(void) const;
-#else
-    void LogRouteTable(void) const {}
-#endif
-
     // The following methods are intended to support range-based `for`
     // loop iteration over the router and should not be used
     // directly.
@@ -447,6 +438,10 @@ private:
         return AsNonConst(AsConst(this)->FindRouter(aMatcher));
     }
 
+    void SignalTableChanged(void);
+    void HandleTableChanged(void);
+    void LogRouteTable(void);
+
     class RouterIdMap
     {
     public:
@@ -478,7 +473,10 @@ private:
         uint8_t mIndexes[Mle::kMaxRouterId + 1];
     };
 
+    using ChangedTask = TaskletIn<RouterTable, &RouterTable::HandleTableChanged>;
+
     Array<Router, Mle::kMaxRouters> mRouters;
+    ChangedTask                     mChangedTask;
     RouterIdMap                     mRouterIdMap;
     TimeMilli                       mRouterIdSequenceLastUpdated;
     uint8_t                         mRouterIdSequence;