diff --git a/components/openthread/Kconfig b/components/openthread/Kconfig
index ec98241f58..c291ede131 100644
--- a/components/openthread/Kconfig
+++ b/components/openthread/Kconfig
@@ -376,6 +376,15 @@ menu "OpenThread"
         default n
         help
             Select this option to enable the OpenThread Radio Spinel for external protocol stack, such as Zigbee.
+
+    config OPENTHREAD_RX_ON_WHEN_IDLE
+        bool "Enable OpenThread radio capibility rx on when idle"
+        default y if !ESP_COEX_SW_COEXIST_ENABLE
+        default n if ESP_COEX_SW_COEXIST_ENABLE
+        help
+            Select this option to enable OpenThread radio capibility rx on when idle. Do not support this feature when
+            SW coexistence is enabled.
+
     menu "Thread Address Query Config"
         config OPENTHREAD_ADDRESS_QUERY_TIMEOUT
             int "Timeout value (in seconds) for a address notification response after sending an address query."
diff --git a/components/openthread/src/port/esp_openthread_radio.c b/components/openthread/src/port/esp_openthread_radio.c
index c98989e086..3079d75e16 100644
--- a/components/openthread/src/port/esp_openthread_radio.c
+++ b/components/openthread/src/port/esp_openthread_radio.c
@@ -343,7 +343,11 @@ int8_t otPlatRadioGetRssi(otInstance *aInstance)
 
 otRadioCaps otPlatRadioGetCaps(otInstance *aInstance)
 {
-    return (otRadioCaps)(OT_RADIO_CAPS_ENERGY_SCAN | OT_RADIO_CAPS_RX_ON_WHEN_IDLE |
+//  FIXME: Remove `CONFIG_OPENTHREAD_RX_ON_WHEN_IDLE` when JIRA: TZ-609 fixed.
+    return (otRadioCaps)(OT_RADIO_CAPS_ENERGY_SCAN |
+#if CONFIG_OPENTHREAD_RX_ON_WHEN_IDLE
+                        OT_RADIO_CAPS_RX_ON_WHEN_IDLE |
+#endif
                         OT_RADIO_CAPS_TRANSMIT_SEC | OT_RADIO_CAPS_RECEIVE_TIMING | OT_RADIO_CAPS_TRANSMIT_TIMING |
                         OT_RADIO_CAPS_ACK_TIMEOUT | OT_RADIO_CAPS_SLEEP_TO_TX);
 }
@@ -771,8 +775,10 @@ otError otPlatRadioSetChannelMaxTransmitPower(otInstance *aInstance, uint8_t aCh
     return OT_ERROR_NONE;
 }
 
+#if CONFIG_OPENTHREAD_RX_ON_WHEN_IDLE
 void otPlatRadioSetRxOnWhenIdle(otInstance *aInstance, bool aEnable)
 {
     OT_UNUSED_VARIABLE(aInstance);
     esp_ieee802154_set_rx_when_idle(aEnable);
 }
+#endif
diff --git a/components/openthread/src/port/esp_openthread_radio_spinel.cpp b/components/openthread/src/port/esp_openthread_radio_spinel.cpp
index 2574bd2b13..a926138f9a 100644
--- a/components/openthread/src/port/esp_openthread_radio_spinel.cpp
+++ b/components/openthread/src/port/esp_openthread_radio_spinel.cpp
@@ -6,6 +6,7 @@
 
 #include "esp_openthread_radio.h"
 
+#include "sdkconfig.h"
 #include "esp_check.h"
 #include "esp_err.h"
 #include "esp_openthread_border_router.h"
@@ -413,7 +414,9 @@ otError otPlatRadioConfigureEnhAckProbing(otInstance *aInstance, otLinkMetrics a
 }
 #endif
 
+#if CONFIG_OPENTHREAD_RX_ON_WHEN_IDLE
 void otPlatRadioSetRxOnWhenIdle(otInstance *aInstance, bool aEnable)
 {
     s_radio.SetRxOnWhenIdle(aEnable);
 }
+#endif