diff --git a/etc/cmake/options.cmake b/etc/cmake/options.cmake
index 45e079dc529..5b2948acf46 100644
--- a/etc/cmake/options.cmake
+++ b/etc/cmake/options.cmake
@@ -325,6 +325,8 @@ ot_int_option(OT_RCP_RESTORATION_MAX_COUNT OPENTHREAD_SPINEL_CONFIG_RCP_RESTORAT
 
 # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
+ot_int_option(OT_RCP_TX_WAIT_TIME_SECS  OPENTHREAD_SPINEL_CONFIG_RCP_TX_WAIT_TIME_SECS "set RCP TX wait TIME in seconds")
+
 if(NOT OT_EXTERNAL_MBEDTLS)
     set(OT_MBEDTLS mbedtls)
     target_compile_definitions(ot-config INTERFACE "OPENTHREAD_CONFIG_ENABLE_BUILTIN_MBEDTLS=1")
diff --git a/script/check-scan-build b/script/check-scan-build
index ef723faad8a..7e6ad30ff55 100755
--- a/script/check-scan-build
+++ b/script/check-scan-build
@@ -69,6 +69,7 @@ OT_BUILD_OPTIONS=(
     "-DOT_PING_SENDER=ON"
     "-DOT_PLATFORM=external"
     "-DOT_RCP_RESTORATION_MAX_COUNT=2"
+    "-DOT_RCP_TX_WAIT_TIME_SECS=5"
     "-DOT_REFERENCE_DEVICE=ON"
     "-DOT_SERVICE=ON"
     "-DOT_SLAAC=ON"
diff --git a/script/cmake-build b/script/cmake-build
index e457bfcd1fd..97a8ba36de6 100755
--- a/script/cmake-build
+++ b/script/cmake-build
@@ -107,6 +107,7 @@ OT_POSIX_SIM_COMMON_OPTIONS=(
     "-DOT_SNTP_CLIENT=ON"
     "-DOT_SRP_CLIENT=ON"
     "-DOT_SRP_SERVER=ON"
+    "-DOT_RCP_TX_WAIT_TIME_SECS=5"
     "-DOT_UPTIME=ON"
 )
 readonly OT_POSIX_SIM_COMMON_OPTIONS
diff --git a/src/lib/spinel/openthread-spinel-config.h b/src/lib/spinel/openthread-spinel-config.h
index 231a8683898..9da54ed8431 100644
--- a/src/lib/spinel/openthread-spinel-config.h
+++ b/src/lib/spinel/openthread-spinel-config.h
@@ -107,6 +107,15 @@
  */
 #ifndef OPENTHREAD_SPINEL_CONFIG_VENDOR_HOOK_HEADER
 #define OPENTHREAD_SPINEL_CONFIG_VENDOR_HOOK_HEADER "lib/spinel/example_vendor_hook.hpp"
+
+/**
+ * @def OPENTHREAD_SPINEL_CONFIG_RCP_TX_WAIT_TIME_SECS
+ *
+ * Defines the Tx wait duration in seconds.
+ *
+ */
+#ifndef OPENTHREAD_SPINEL_CONFIG_RCP_TX_WAIT_TIME_SECS
+#define OPENTHREAD_SPINEL_CONFIG_RCP_TX_WAIT_TIME_SECS 5
 #endif
 
 #endif // OPENTHREAD_SPINEL_CONFIG_H_
diff --git a/src/lib/spinel/radio_spinel.hpp b/src/lib/spinel/radio_spinel.hpp
index bc0774d327e..b3fb0e59218 100644
--- a/src/lib/spinel/radio_spinel.hpp
+++ b/src/lib/spinel/radio_spinel.hpp
@@ -1107,7 +1107,7 @@ class RadioSpinel
 
     static constexpr uint32_t kUsPerMs = 1000; ///< Microseconds per millisecond.
     static constexpr uint64_t kTxWaitUs =
-        5000000; ///< Maximum time of waiting for `TransmitDone` event, in microseconds.
+        OPENTHREAD_SPINEL_CONFIG_RCP_TX_WAIT_TIME_SECS * kUsPerMs * 1000; ///< Maximum time of waiting for `TransmitDone` event, in microseconds.
 
     typedef otError (RadioSpinel::*ResponseHandler)(const uint8_t *aBuffer, uint16_t aLength);