diff --git a/src/ncp/ncp_host.cpp b/src/ncp/ncp_host.cpp
index af988feb45f..0917d9ac363 100644
--- a/src/ncp/ncp_host.cpp
+++ b/src/ncp/ncp_host.cpp
@@ -90,6 +90,8 @@ void NcpHost::Init(void)
     mNcpSpinel.Ip6SetAddressMulticastCallback(
         [this](const std::vector<Ip6Address> &aAddrs) { mNetif.UpdateIp6MulticastAddresses(aAddrs); });
     mNcpSpinel.NetifSetStateChangedCallback([this](bool aState) { mNetif.SetNetifState(aState); });
+    mNcpSpinel.Ip6SetReceiveCallback(
+        [this](const uint8_t *aData, uint16_t aLength) { mNetif.Ip6Receive(aData, aLength); });
 }
 
 void NcpHost::Deinit(void)
@@ -147,6 +149,8 @@ void NcpHost::ScheduleMigration(const otOperationalDatasetTlvs &aPendingOpDatase
 void NcpHost::Process(const MainloopContext &aMainloop)
 {
     mSpinelDriver.Process(&aMainloop);
+
+    mNetif.Process(&aMainloop);
 }
 
 void NcpHost::Update(MainloopContext &aMainloop)
@@ -158,6 +162,8 @@ void NcpHost::Update(MainloopContext &aMainloop)
         aMainloop.mTimeout.tv_sec  = 0;
         aMainloop.mTimeout.tv_usec = 0;
     }
+
+    mNetif.UpdateFdSet(&aMainloop);
 }
 
 } // namespace Ncp
diff --git a/src/ncp/ncp_spinel.cpp b/src/ncp/ncp_spinel.cpp
index c9a0458dba2..57295ec9abf 100644
--- a/src/ncp/ncp_spinel.cpp
+++ b/src/ncp/ncp_spinel.cpp
@@ -153,11 +153,13 @@ void NcpSpinel::Ip6SetEnabled(bool aEnable, AsyncTaskPtr aAsyncTask)
 
 otbrError NcpSpinel::Ip6Send(const uint8_t *aData, uint16_t aLength)
 {
-    // TODO: Impelement this function.
-    OTBR_UNUSED_VARIABLE(aData);
-    OTBR_UNUSED_VARIABLE(aLength);
+    otbrError    error        = OTBR_ERROR_NONE;
+    EncodingFunc encodingFunc = [this, aData, aLength] { return mEncoder.WriteDataWithLen(aData, aLength); };
+
+    SuccessOrExit(SetProperty(SPINEL_PROP_STREAM_NET, encodingFunc), error = OTBR_ERROR_OPENTHREAD);
 
-    return OTBR_ERROR_NONE;
+exit:
+    return error;
 }
 
 void NcpSpinel::ThreadSetEnabled(bool aEnable, AsyncTaskPtr aAsyncTask)
@@ -393,6 +395,16 @@ void NcpSpinel::HandleValueIs(spinel_prop_key_t aKey, const uint8_t *aBuffer, ui
         break;
     }
 
+    case SPINEL_PROP_STREAM_NET:
+    {
+        const uint8_t *data;
+        uint16_t       dataLen;
+
+        SuccessOrExit(ParseIp6StreamNet(aBuffer, aLength, data, dataLen), error = OTBR_ERROR_PARSE);
+        SafeInvoke(mIp6ReceiveCallback, data, dataLen);
+        break;
+    }
+
     default:
         otbrLogWarning("Received uncognized key: %u", aKey);
         break;
@@ -449,6 +461,9 @@ otbrError NcpSpinel::HandleResponseForPropSet(spinel_tid_t      aTid,
         }
         break;
 
+    case SPINEL_PROP_STREAM_NET:
+        break;
+
     default:
         VerifyOrExit(aKey == mWaitingKeyTable[aTid], error = OTBR_ERROR_INVALID_STATE);
         break;
@@ -587,6 +602,20 @@ otError NcpSpinel::ParseIp6MulticastAddresses(const uint8_t *aBuf, uint8_t aLen,
     return error;
 }
 
+otError NcpSpinel::ParseIp6StreamNet(const uint8_t *aBuf, uint8_t aLen, const uint8_t *&aData, uint16_t &aDataLen)
+{
+    otError             error = OT_ERROR_NONE;
+    ot::Spinel::Decoder decoder;
+
+    VerifyOrExit(aBuf != nullptr, error = OT_ERROR_INVALID_ARGS);
+
+    decoder.Init(aBuf, aLen);
+    error = decoder.ReadDataWithLen(aData, aDataLen);
+
+exit:
+    return error;
+}
+
 otDeviceRole NcpSpinel::SpinelRoleToDeviceRole(spinel_net_role_t aRole)
 {
     otDeviceRole role = OT_DEVICE_ROLE_DISABLED;
diff --git a/src/ncp/ncp_spinel.hpp b/src/ncp/ncp_spinel.hpp
index f60895db47f..bfcea057617 100644
--- a/src/ncp/ncp_spinel.hpp
+++ b/src/ncp/ncp_spinel.hpp
@@ -86,6 +86,7 @@ class NcpSpinel
     using Ip6AddressTableCallback          = std::function<void(const std::vector<Ip6AddressInfo> &)>;
     using Ip6MulticastAddressTableCallback = std::function<void(const std::vector<Ip6Address> &)>;
     using NetifStateChangedCallback        = std::function<void(bool)>;
+    using Ip6ReceiveCallback               = std::function<void(const uint8_t *, uint16_t)>;
 
     /**
      * Constructor.
@@ -178,6 +179,14 @@ class NcpSpinel
         mIp6MulticastAddressTableCallback = aCallback;
     }
 
+    /**
+     * This method sets the callback to receive IP6 datagrams.
+     *
+     * @param[in] aCallback  The callback to receive IP6 datagrams.
+     *
+     */
+    void Ip6SetReceiveCallback(const Ip6ReceiveCallback &aCallback) { mIp6ReceiveCallback = aCallback; }
+
     /**
      * This methods sends an IP6 datagram through the NCP.
      *
@@ -286,6 +295,7 @@ class NcpSpinel
 
     otError ParseIp6AddressTable(const uint8_t *aBuf, uint16_t aLength, std::vector<Ip6AddressInfo> &aAddressTable);
     otError ParseIp6MulticastAddresses(const uint8_t *aBuf, uint8_t aLen, std::vector<Ip6Address> &aAddressList);
+    otError ParseIp6StreamNet(const uint8_t *aBuf, uint8_t aLen, const uint8_t *&aData, uint16_t &aDataLen);
 
     ot::Spinel::SpinelDriver *mSpinelDriver;
     uint16_t                  mCmdTidsInUse; ///< Used transaction ids.
@@ -314,6 +324,7 @@ class NcpSpinel
 
     Ip6AddressTableCallback          mIp6AddressTableCallback;
     Ip6MulticastAddressTableCallback mIp6MulticastAddressTableCallback;
+    Ip6ReceiveCallback               mIp6ReceiveCallback;
     NetifStateChangedCallback        mNetifStateChangedCallback;
 };
 
diff --git a/tests/scripts/expect/_common.exp b/tests/scripts/expect/_common.exp
index bb02ff81b39..277e9709e95 100644
--- a/tests/scripts/expect/_common.exp
+++ b/tests/scripts/expect/_common.exp
@@ -101,3 +101,12 @@ proc switch_node {id} {
     send_user "\n# ${id}\n"
     set spawn_id $spawn_ids($id)
 }
+
+proc get_ipaddr {type} {
+    send "ipaddr $type\n"
+    expect "ipaddr $type"
+    set rval [expect_line {([0-9a-fA-F]{1,4}:){7,7}[0-9a-fA-F]{1,4}}]
+    expect_line "Done"
+
+    return $rval
+}
diff --git a/tests/scripts/expect/ncp_netif_tx_rx.exp b/tests/scripts/expect/ncp_netif_tx_rx.exp
new file mode 100755
index 00000000000..8e7d1f3c5e4
--- /dev/null
+++ b/tests/scripts/expect/ncp_netif_tx_rx.exp
@@ -0,0 +1,67 @@
+#!/usr/bin/expect -f
+#
+#  Copyright (c) 2024, The OpenThread Authors.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions are met:
+#  1. Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#  2. Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#  3. Neither the name of the copyright holder nor the
+#     names of its contributors may be used to endorse or promote products
+#     derived from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+#
+source "tests/scripts/expect/_common.exp"
+
+set dataset "0e080000000000010000000300001435060004001fffe002087d61eb42cdc48d6a0708fd0d07fca1b9f0500510ba088fc2bd6c3b3897f7a10f58263ff3030f4f70656e5468726561642d353234660102524f04109dc023ccd447b12b50997ef68020f19e0c0402a0f7f8"
+set dataset_dbus "0x0e,0x08,0x00,0x00,0x00,0x00,0x00,0x01,0x00,0x00,0x00,0x03,0x00,0x00,0x14,0x35,0x06,0x00,0x04,0x00,0x1f,0xff,0xe0,0x02,0x08,0x7d,0x61,0xeb,0x42,0xcd,0xc4,0x8d,0x6a,0x07,0x08,0xfd,0x0d,0x07,0xfc,0xa1,0xb9,0xf0,0x50,0x05,0x10,0xba,0x08,0x8f,0xc2,0xbd,0x6c,0x3b,0x38,0x97,0xf7,0xa1,0x0f,0x58,0x26,0x3f,0xf3,0x03,0x0f,0x4f,0x70,0x65,0x6e,0x54,0x68,0x72,0x65,0x61,0x64,0x2d,0x35,0x32,0x34,0x66,0x01,0x02,0x52,0x4f,0x04,0x10,0x9d,0xc0,0x23,0xcc,0xd4,0x47,0xb1,0x2b,0x50,0x99,0x7e,0xf6,0x80,0x20,0xf1,0x9e,0x0c,0x04,0x02,0xa0,0xf7,0xf8"
+
+# Step 1. Start a Thread node and create a Thread network
+spawn_node 1 cli $::env(EXP_OT_CLI_PATH)
+
+send "dataset set active ${dataset}\n"
+expect_line "Done"
+send "ifconfig up\n"
+expect_line "Done"
+send "thread start\n"
+expect_line "Done"
+wait_for "state" "leader"
+expect_line "Done"
+set dest_addr [get_ipaddr mleid]
+
+# Step 2. Start otbr-agent with a NCP and join the network by dbus join method
+spawn_node 2 otbr $::env(EXP_OT_NCP_PATH)
+sleep 1
+
+spawn dbus-send --system --dest=io.openthread.BorderRouter.wpan0 --type=method_call --print-reply /io/openthread/BorderRouter/wpan0 io.openthread.BorderRouter.Join "array:byte:${dataset_dbus}"
+expect eof
+
+# Step 3. Wait 10 seconds, check if the otbr-agent has attached successfully
+sleep 10
+spawn dbus-send --system --dest=io.openthread.BorderRouter.wpan0 --print-reply --reply-timeout=1000 /io/openthread/BorderRouter/wpan0 org.freedesktop.DBus.Properties.Get string:io.openthread.BorderRouter string:DeviceRole
+expect -re {router|child} {
+} timeout {
+    puts "timeout!"
+    exit 1
+}
+expect eof
+
+# Step 4. Verify pinging from otbr-agent NCP to the cli node
+spawn ping6 -c 10 ${dest_addr}
+expect "10 packets transmitted, 10 received, 0% packet loss"
+expect eof