diff --git a/src/core/border_router/routing_manager.cpp b/src/core/border_router/routing_manager.cpp
index d7686d5a6..69d3287d7 100644
--- a/src/core/border_router/routing_manager.cpp
+++ b/src/core/border_router/routing_manager.cpp
@@ -462,18 +462,29 @@ void RoutingManager::EvaluateOmrPrefix(OmrPrefixArray &aNewOmrPrefixes)
         // The `aNewOmrPrefixes` remains empty if we fail to publish
         // the local OMR prefix.
     }
-    else if (publishedLocalOmrPrefix != nullptr && smallestOmrPrefix != publishedLocalOmrPrefix)
+    else
     {
-        LogInfo("EvaluateOmrPrefix: There is already a smaller OMR prefix %s in the Thread network",
-                smallestOmrPrefix->ToString().AsCString());
+        OT_ASSERT(smallestOmrPrefix != nullptr);
 
-        UnpublishLocalOmrPrefix();
+        if (*smallestOmrPrefix == mLocalOmrPrefix)
+        {
+            IgnoreError(PublishLocalOmrPrefix());
+        }
+        else if (IsOmrPrefixAddedToLocalNetworkData())
+        {
+            LogInfo("EvaluateOmrPrefix: There is already a smaller OMR prefix %s in the Thread network",
+                    smallestOmrPrefix->ToString().AsCString());
 
-        // Remove the local OMR prefix from the list by overwriting it
-        // with the last element and then popping it from the list.
+            UnpublishLocalOmrPrefix();
 
-        *publishedLocalOmrPrefix = *aNewOmrPrefixes.Back();
-        aNewOmrPrefixes.PopBack();
+            // Remove the local OMR prefix from the list by overwriting it
+            // with the last element and then popping it from the list.
+            if (publishedLocalOmrPrefix != nullptr)
+            {
+                *publishedLocalOmrPrefix = *aNewOmrPrefixes.Back();
+                aNewOmrPrefixes.PopBack();
+            }
+        }
     }
 }
 
@@ -484,6 +495,8 @@ Error RoutingManager::PublishLocalOmrPrefix(void)
 
     OT_ASSERT(mIsRunning);
 
+    VerifyOrExit(!IsOmrPrefixAddedToLocalNetworkData());
+
     omrPrefixConfig.Clear();
     omrPrefixConfig.mPrefix       = mLocalOmrPrefix;
     omrPrefixConfig.mStable       = true;
@@ -505,6 +518,7 @@ Error RoutingManager::PublishLocalOmrPrefix(void)
         LogInfo("Publishing local OMR prefix %s in Thread network", mLocalOmrPrefix.ToString().AsCString());
     }
 
+exit:
     return error;
 }
 
@@ -514,6 +528,8 @@ void RoutingManager::UnpublishLocalOmrPrefix(void)
 
     VerifyOrExit(mIsRunning);
 
+    VerifyOrExit(IsOmrPrefixAddedToLocalNetworkData());
+
     SuccessOrExit(error = Get<NetworkData::Local>().RemoveOnMeshPrefix(mLocalOmrPrefix));
 
     Get<NetworkData::Notifier>().HandleServerDataUpdated();
@@ -527,6 +543,11 @@ exit:
     }
 }
 
+bool RoutingManager::IsOmrPrefixAddedToLocalNetworkData(void) const
+{
+    return Get<NetworkData::Local>().ContainsOnMeshPrefix(mLocalOmrPrefix);
+}
+
 Error RoutingManager::AddExternalRoute(const Ip6::Prefix &aPrefix, RoutePreference aRoutePreference, bool aNat64)
 {
     Error                            error;
diff --git a/src/core/border_router/routing_manager.hpp b/src/core/border_router/routing_manager.hpp
index 01325f8f8..cd6e14bf9 100644
--- a/src/core/border_router/routing_manager.hpp
+++ b/src/core/border_router/routing_manager.hpp
@@ -305,6 +305,7 @@ private:
     void  EvaluateOmrPrefix(OmrPrefixArray &aNewOmrPrefixes);
     Error PublishLocalOmrPrefix(void);
     void  UnpublishLocalOmrPrefix(void);
+    bool  IsOmrPrefixAddedToLocalNetworkData(void) const;
     Error AddExternalRoute(const Ip6::Prefix &aPrefix, RoutePreference aRoutePreference, bool aNat64 = false);
     void  RemoveExternalRoute(const Ip6::Prefix &aPrefix);
     void  StartRouterSolicitationDelay(void);
diff --git a/src/core/thread/network_data_local.cpp b/src/core/thread/network_data_local.cpp
index 8095a95bb..b558140fa 100644
--- a/src/core/thread/network_data_local.cpp
+++ b/src/core/thread/network_data_local.cpp
@@ -69,6 +69,20 @@ Error Local::RemoveOnMeshPrefix(const Ip6::Prefix &aPrefix)
     return RemovePrefix(aPrefix, NetworkDataTlv::kTypeBorderRouter);
 }
 
+bool Local::ContainsOnMeshPrefix(const Ip6::Prefix &aPrefix) const
+{
+    const PrefixTlv *tlv;
+    bool             contains = false;
+
+    VerifyOrExit((tlv = FindPrefix(aPrefix)) != nullptr);
+    VerifyOrExit(tlv->FindSubTlv(NetworkDataTlv::kTypeBorderRouter) != nullptr);
+
+    contains = true;
+
+exit:
+    return contains;
+}
+
 Error Local::AddHasRoutePrefix(const ExternalRouteConfig &aConfig)
 {
     Error error = kErrorInvalidArgs;
diff --git a/src/core/thread/network_data_local.hpp b/src/core/thread/network_data_local.hpp
index de2879435..1123af6b9 100644
--- a/src/core/thread/network_data_local.hpp
+++ b/src/core/thread/network_data_local.hpp
@@ -97,6 +97,17 @@ public:
      */
     Error RemoveOnMeshPrefix(const Ip6::Prefix &aPrefix);
 
+    /**
+     * This method indicates whether or not the Thread Network Data contains a given on mesh prefix.
+     *
+     * @param[in]  aPrefix   The on mesh prefix to check.
+     *
+     * @retval TRUE  if Network Data contains mesh prefix @p aPrefix.
+     * @retval FALSE if Network Data does not contain mesh prefix @p aPrefix.
+     *
+     */
+    bool ContainsOnMeshPrefix(const Ip6::Prefix &aPrefix) const;
+
     /**
      * This method adds a Has Route entry to the Thread Network data.
      *