diff --git a/components/openthread/src/esp_openthread_cli.c b/components/openthread/src/esp_openthread_cli.c
index 947bf892b9a7..6ce998a43059 100644
--- a/components/openthread/src/esp_openthread_cli.c
+++ b/components/openthread/src/esp_openthread_cli.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -20,8 +20,10 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "linenoise/linenoise.h"
-
-#define OT_CLI_MAX_LINE_LENGTH 256
+#include "esp_console.h"
+#define OT_CLI_MAX_LINE_LENGTH      256
+#define ESP_CONSOLE_PREFIX          "esp "
+#define ESP_CONSOLE_PREFIX_LENGTH   4
 
 static TaskHandle_t s_cli_task;
 
@@ -63,7 +65,13 @@ esp_err_t esp_openthread_cli_input(const char *line)
 
 static void ot_cli_loop(void *context)
 {
+    int ret = 0;
     const char *prompt = "> ";
+    esp_console_config_t console_config = ESP_CONSOLE_CONFIG_DEFAULT();
+    console_config.max_cmdline_length = OT_CLI_MAX_LINE_LENGTH;
+
+    console_config.hint_color = -1;
+    ret = esp_console_init(&console_config);
 
     linenoiseSetMultiLine(true);
     linenoiseHistorySetMaxLen(100);
@@ -78,9 +86,23 @@ static void ot_cli_loop(void *context)
         char *line = linenoise(prompt);
         if (line && strnlen(line, OT_CLI_MAX_LINE_LENGTH)) {
             printf("\r\n");
-            esp_openthread_cli_input(line);
+            if (memcmp(line, ESP_CONSOLE_PREFIX, ESP_CONSOLE_PREFIX_LENGTH) == 0) {
+                esp_err_t err = esp_console_run(line + ESP_CONSOLE_PREFIX_LENGTH, &ret);
+                if (err == ESP_ERR_NOT_FOUND) {
+                    printf("Unrecognized command\n");
+                } else if (err == ESP_ERR_INVALID_ARG) {
+                    // command was empty
+                    printf("Command is empty\n");
+                } else if (err == ESP_OK && ret != ESP_OK) {
+                    printf("Command returned non-zero error code: 0x%x (%s)\n", ret, esp_err_to_name(ret));
+                } else if (err != ESP_OK) {
+                    printf("Internal error: %s\n", esp_err_to_name(err));
+                }
+            } else {
+                esp_openthread_cli_input(line);
+                xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
+            }
             linenoiseHistoryAdd(line);
-            xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
         }
         linenoiseFree(line);
     }