diff --git a/src/core/common/log.cpp b/src/core/common/log.cpp
index 1809cd54b53..afddcfda0ad 100644
--- a/src/core/common/log.cpp
+++ b/src/core/common/log.cpp
@@ -136,6 +136,16 @@ void Logger::LogVarArgs(const char *aModuleName, LogLevel aLogLevel, const char
     return;
 }
 
+#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_WARN)
+void Logger::LogOnError(const char *aModuleName, Error aError, const char *aText)
+{
+    if (aError != kErrorNone)
+    {
+        LogAtLevel<kLogLevelWarn>(aModuleName, "Failed to %s: %s", aText, ErrorToString(aError));
+    }
+}
+#endif
+
 #if OPENTHREAD_CONFIG_LOG_PKT_DUMP
 
 template <LogLevel kLogLevel>
diff --git a/src/core/common/log.hpp b/src/core/common/log.hpp
index 47293e0b3b5..49f0416e6df 100644
--- a/src/core/common/log.hpp
+++ b/src/core/common/log.hpp
@@ -162,6 +162,22 @@ constexpr uint8_t kMaxLogModuleNameLength = 14; ///< Maximum module name length
 #define LogDebg(...)
 #endif
 
+#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_WARN)
+/**
+ * Emits an error log message at warning log level if there is an error.
+ *
+ * The emitted log will use the the following format "Failed to {aText}: {ErrorToString(aError)}", and will be emitted
+ * only if there is an error, i.e., @p aError is not `kErrorNone`.
+ *
+ * @param[in] aError       The error to check and log.
+ * @param[in] aText        The text to include in the log.
+ *
+ */
+#define LogWarnOnError(aError, aText) Logger::LogOnError(kLogModuleName, aError, aText)
+#else
+#define LogWarnOnError(aError, aText)
+#endif
+
 #if OT_SHOULD_LOG
 /**
  * Emits a log message at a given log level.
@@ -316,6 +332,10 @@ class Logger
 
     static void LogVarArgs(const char *aModuleName, LogLevel aLogLevel, const char *aFormat, va_list aArgs);
 
+#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_WARN)
+    static void LogOnError(const char *aModuleName, Error aError, const char *aText);
+#endif
+
 #if OPENTHREAD_CONFIG_LOG_PKT_DUMP
     static constexpr uint8_t kStringLineLength = 80;
     static constexpr uint8_t kDumpBytesPerLine = 16;
diff --git a/src/core/meshcop/border_agent.cpp b/src/core/meshcop/border_agent.cpp
index ad24427a635..24e7331d83f 100644
--- a/src/core/meshcop/border_agent.cpp
+++ b/src/core/meshcop/border_agent.cpp
@@ -128,7 +128,7 @@ void BorderAgent::SendErrorMessage(const ForwardContext &aForwardContext, Error
 
 exit:
     FreeMessageOnError(message, error);
-    LogError("send error CoAP message", error);
+    LogWarnOnError(error, "send error CoAP message");
 }
 
 void BorderAgent::SendErrorMessage(const Coap::Message &aRequest, bool aSeparate, Error aError)
@@ -158,7 +158,7 @@ void BorderAgent::SendErrorMessage(const Coap::Message &aRequest, bool aSeparate
 
 exit:
     FreeMessageOnError(message, error);
-    LogError("send error CoAP message", error);
+    LogWarnOnError(error, "send error CoAP message");
 }
 
 Error BorderAgent::SendMessage(Coap::Message &aMessage)
@@ -347,7 +347,7 @@ template <> void BorderAgent::HandleTmf<kUriProxyTx>(Coap::Message &aMessage, co
 
 exit:
     FreeMessageOnError(message, error);
-    LogError("send proxy stream", error);
+    LogWarnOnError(error, "send proxy stream");
 }
 
 bool BorderAgent::HandleUdpReceive(void *aContext, const otMessage *aMessage, const otMessageInfo *aMessageInfo)
@@ -398,7 +398,7 @@ bool BorderAgent::HandleUdpReceive(const Message &aMessage, const Ip6::MessageIn
     FreeMessageOnError(message, error);
     if (error != kErrorDestinationAddressFiltered)
     {
-        LogError("notify commissioner on ProxyRx (c/ur)", error);
+        LogWarnOnError(error, "notify commissioner on ProxyRx (c/ur)");
     }
 
     return error != kErrorDestinationAddressFiltered;
@@ -436,7 +436,7 @@ Error BorderAgent::ForwardToCommissioner(Coap::Message &aForwardMessage, const M
     LogInfo("Sent to commissioner");
 
 exit:
-    LogError("send to commissioner", error);
+    LogWarnOnError(error, "send to commissioner");
     return error;
 }
 
@@ -520,7 +520,7 @@ template <> void BorderAgent::HandleTmf<kUriRelayTx>(Coap::Message &aMessage, co
 
 exit:
     FreeMessageOnError(message, error);
-    LogError("send to joiner router request RelayTx (c/tx)", error);
+    LogWarnOnError(error, "send to joiner router request RelayTx (c/tx)");
 }
 
 Error BorderAgent::ForwardToLeader(const Coap::Message &aMessage, const Ip6::MessageInfo &aMessageInfo, Uri aUri)
@@ -576,7 +576,7 @@ Error BorderAgent::ForwardToLeader(const Coap::Message &aMessage, const Ip6::Mes
     LogInfo("Forwarded request to leader on %s", PathForUri(aUri));
 
 exit:
-    LogError("forward to leader", error);
+    LogWarnOnError(error, "forward to leader");
 
     if (error != kErrorNone)
     {
@@ -662,7 +662,7 @@ Error BorderAgent::Start(uint16_t aUdpPort, const uint8_t *aPsk, uint8_t aPskLen
     LogInfo("Border Agent start listening on port %u", GetUdpPort());
 
 exit:
-    LogError("start agent", error);
+    LogWarnOnError(error, "start agent");
     return error;
 }
 
@@ -802,16 +802,6 @@ void BorderAgent::HandleSecureAgentStopped(void)
 
 #endif // OPENTHREAD_CONFIG_BORDER_AGENT_EPHEMERAL_KEY_ENABLE
 
-#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_WARN)
-void BorderAgent::LogError(const char *aActionText, Error aError)
-{
-    if (aError != kErrorNone)
-    {
-        LogWarn("Failed to %s: %s", aActionText, ErrorToString(aError));
-    }
-}
-#endif
-
 } // namespace MeshCoP
 } // namespace ot
 
diff --git a/src/core/meshcop/border_agent.hpp b/src/core/meshcop/border_agent.hpp
index fe946122074..933a95c76a1 100644
--- a/src/core/meshcop/border_agent.hpp
+++ b/src/core/meshcop/border_agent.hpp
@@ -308,12 +308,6 @@ class BorderAgent : public InstanceLocator, private NonCopyable
     static bool HandleUdpReceive(void *aContext, const otMessage *aMessage, const otMessageInfo *aMessageInfo);
     bool        HandleUdpReceive(const Message &aMessage, const Ip6::MessageInfo &aMessageInfo);
 
-#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_WARN)
-    void LogError(const char *aActionText, Error aError);
-#else
-    void LogError(const char *, Error) {}
-#endif
-
     using TimeoutTimer = TimerMilliIn<BorderAgent, &BorderAgent::HandleTimeout>;
 #if OPENTHREAD_CONFIG_BORDER_AGENT_EPHEMERAL_KEY_ENABLE
     using EphemeralKeyTimer = TimerMilliIn<BorderAgent, &BorderAgent::HandleEphemeralKeyTimeout>;
diff --git a/src/core/meshcop/commissioner.cpp b/src/core/meshcop/commissioner.cpp
index 92a52c12ea5..999d73224c8 100644
--- a/src/core/meshcop/commissioner.cpp
+++ b/src/core/meshcop/commissioner.cpp
@@ -302,9 +302,9 @@ Error Commissioner::Start(StateCallback aStateCallback, JoinerCallback aJoinerCa
     if ((error != kErrorNone) && (error != kErrorAlready))
     {
         Get<Tmf::SecureAgent>().Stop();
+        LogWarnOnError(error, "start commissioner");
     }
 
-    LogError("start commissioner", error);
     return error;
 }
 
@@ -343,7 +343,11 @@ Error Commissioner::Stop(ResignMode aResignMode)
 #endif
 
 exit:
-    LogError("stop commissioner", error);
+    if (error != kErrorAlready)
+    {
+        LogWarnOnError(error, "stop commissioner");
+    }
+
     return error;
 }
 
@@ -405,7 +409,8 @@ void Commissioner::SendCommissionerSet(void)
     error = SendMgmtCommissionerSetRequest(dataset, nullptr, 0);
 
 exit:
-    LogError("send MGMT_COMMISSIONER_SET.req", error);
+    LogWarnOnError(error, "send MGMT_COMMISSIONER_SET.req");
+    OT_UNUSED_VARIABLE(error);
 }
 
 void Commissioner::ClearJoiners(void)
@@ -857,7 +862,7 @@ void Commissioner::SendKeepAlive(uint16_t aSessionId)
 
 exit:
     FreeMessageOnError(message, error);
-    LogError("send keep alive", error);
+    LogWarnOnError(error, "send keep alive");
 }
 
 void Commissioner::HandleLeaderKeepAliveResponse(void                *aContext,
diff --git a/src/core/meshcop/dataset_manager.cpp b/src/core/meshcop/dataset_manager.cpp
index 237c4b48137..6c49a239af3 100644
--- a/src/core/meshcop/dataset_manager.cpp
+++ b/src/core/meshcop/dataset_manager.cpp
@@ -292,7 +292,11 @@ void DatasetManager::SendSet(void)
         OT_FALL_THROUGH;
 
     default:
-        LogError("send Dataset set to leader", error);
+        if (error != kErrorAlready)
+        {
+            LogWarnOnError(error, "send Dataset set to leader");
+        }
+
         FreeMessage(message);
         break;
     }
diff --git a/src/core/meshcop/joiner.cpp b/src/core/meshcop/joiner.cpp
index fb0f3e61cbc..4df5f96fc36 100644
--- a/src/core/meshcop/joiner.cpp
+++ b/src/core/meshcop/joiner.cpp
@@ -185,7 +185,7 @@ Error Joiner::Start(const char      *aPskd,
         FreeJoinerFinalizeMessage();
     }
 
-    LogError("start joiner", error);
+    LogWarnOnError(error, "start joiner");
     return error;
 }
 
@@ -378,7 +378,7 @@ Error Joiner::Connect(JoinerRouter &aRouter)
     SetState(kStateConnect);
 
 exit:
-    LogError("start secure joiner connection", error);
+    LogWarnOnError(error, "start secure joiner connection");
     return error;
 }
 
@@ -543,7 +543,7 @@ template <> void Joiner::HandleTmf<kUriJoinerEntrust>(Coap::Message &aMessage, c
     mTimer.Start(kConfigExtAddressDelay);
 
 exit:
-    LogError("process joiner entrust", error);
+    LogWarnOnError(error, "process joiner entrust");
 }
 
 void Joiner::SendJoinerEntrustResponse(const Coap::Message &aRequest, const Ip6::MessageInfo &aRequestInfo)
diff --git a/src/core/meshcop/joiner_router.cpp b/src/core/meshcop/joiner_router.cpp
index acadf1a9d83..a5df4136702 100644
--- a/src/core/meshcop/joiner_router.cpp
+++ b/src/core/meshcop/joiner_router.cpp
@@ -232,7 +232,7 @@ void JoinerRouter::DelaySendingJoinerEntrust(const Ip6::MessageInfo &aMessageInf
 
 exit:
     FreeMessageOnError(message, error);
-    LogError("schedule joiner entrust", error);
+    LogWarnOnError(error, "schedule joiner entrust");
 }
 
 void JoinerRouter::HandleTimer(void) { SendDelayedJoinerEntrust(); }
diff --git a/src/core/meshcop/meshcop.cpp b/src/core/meshcop/meshcop.cpp
index b30fe274cec..8bce745829a 100644
--- a/src/core/meshcop/meshcop.cpp
+++ b/src/core/meshcop/meshcop.cpp
@@ -343,15 +343,5 @@ Error GeneratePskc(const char          *aPassPhrase,
 }
 #endif // OPENTHREAD_FTD
 
-#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_WARN)
-void LogError(const char *aActionText, Error aError)
-{
-    if (aError != kErrorNone && aError != kErrorAlready)
-    {
-        LogWarn("Failed to %s: %s", aActionText, ErrorToString(aError));
-    }
-}
-#endif
-
 } // namespace MeshCoP
 } // namespace ot
diff --git a/src/core/meshcop/meshcop.hpp b/src/core/meshcop/meshcop.hpp
index 339872bb38c..3620927a022 100644
--- a/src/core/meshcop/meshcop.hpp
+++ b/src/core/meshcop/meshcop.hpp
@@ -561,22 +561,6 @@ Error GeneratePskc(const char          *aPassPhrase,
  */
 void ComputeJoinerId(const Mac::ExtAddress &aEui64, Mac::ExtAddress &aJoinerId);
 
-#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_WARN)
-/**
- * Emits a log message indicating an error during a MeshCoP action.
- *
- * Note that log message is emitted only if there is an error, i.e. @p aError is not `kErrorNone`. The log
- * message will have the format "Failed to {aActionText} : {ErrorString}".
- *
- * @param[in] aActionText   A string representing the failed action.
- * @param[in] aError        The error in sending the message.
- *
- */
-void LogError(const char *aActionText, Error aError);
-#else
-inline void LogError(const char *, Error) {}
-#endif
-
 } // namespace MeshCoP
 
 DefineCoreType(otJoinerPskd, MeshCoP::JoinerPskd);
diff --git a/src/core/meshcop/meshcop_leader.cpp b/src/core/meshcop/meshcop_leader.cpp
index 64c028d1bfc..4fc83854d82 100644
--- a/src/core/meshcop/meshcop_leader.cpp
+++ b/src/core/meshcop/meshcop_leader.cpp
@@ -125,7 +125,7 @@ void Leader::SendPetitionResponse(const Coap::Message    &aRequest,
 
 exit:
     FreeMessageOnError(message, error);
-    LogError("send petition response", error);
+    LogWarnOnError(error, "send petition response");
 }
 
 template <> void Leader::HandleTmf<kUriLeaderKeepAlive>(Coap::Message &aMessage, const Ip6::MessageInfo &aMessageInfo)
@@ -192,7 +192,7 @@ void Leader::SendKeepAliveResponse(const Coap::Message    &aRequest,
 
 exit:
     FreeMessageOnError(message, error);
-    LogError("send keep alive response", error);
+    LogWarnOnError(error, "send keep alive response");
 }
 
 void Leader::SendDatasetChanged(const Ip6::Address &aAddress)
@@ -211,7 +211,7 @@ void Leader::SendDatasetChanged(const Ip6::Address &aAddress)
 
 exit:
     FreeMessageOnError(message, error);
-    LogError("send dataset changed", error);
+    LogWarnOnError(error, "send dataset changed");
 }
 
 Error Leader::SetDelayTimerMinimal(uint32_t aDelayTimerMinimal)
diff --git a/src/core/meshcop/tcat_agent.cpp b/src/core/meshcop/tcat_agent.cpp
index c923da3093c..f8e4596425f 100644
--- a/src/core/meshcop/tcat_agent.cpp
+++ b/src/core/meshcop/tcat_agent.cpp
@@ -94,7 +94,7 @@ Error TcatAgent::Start(const TcatAgent::VendorInfo &aVendorInfo,
     mAlreadyCommissioned        = false;
 
 exit:
-    LogError("start TCAT agent", error);
+    LogWarnOnError(error, "start TCAT agent");
     return error;
 }
 
@@ -500,16 +500,6 @@ Error TcatAgent::HandleStartThreadInterface(void)
     return error;
 }
 
-#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_WARN)
-void TcatAgent::LogError(const char *aActionText, Error aError)
-{
-    if (aError != kErrorNone)
-    {
-        LogWarn("Failed to %s: %s", aActionText, ErrorToString(aError));
-    }
-}
-#endif
-
 } // namespace MeshCoP
 } // namespace ot
 
diff --git a/src/core/meshcop/tcat_agent.hpp b/src/core/meshcop/tcat_agent.hpp
index d2dd9f340c8..16cf8f97743 100644
--- a/src/core/meshcop/tcat_agent.hpp
+++ b/src/core/meshcop/tcat_agent.hpp
@@ -325,12 +325,6 @@ class TcatAgent : public InstanceLocator, private NonCopyable
     Error HandleSetActiveOperationalDataset(const Message &aIncommingMessage, uint16_t aOffset, uint16_t aLength);
     Error HandleStartThreadInterface(void);
 
-#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_WARN)
-    void LogError(const char *aActionText, Error aError);
-#else
-    void LogError(const char *, Error) {}
-#endif
-
     bool         CheckCommandClassAuthorizationFlags(CommandClassFlags aCommissionerCommandClassFlags,
                                                      CommandClassFlags aDeviceCommandClassFlags,
                                                      Dataset          *aDataset) const;
diff --git a/src/core/net/dhcp6_client.cpp b/src/core/net/dhcp6_client.cpp
index e206ff66481..56654fb471a 100644
--- a/src/core/net/dhcp6_client.cpp
+++ b/src/core/net/dhcp6_client.cpp
@@ -288,7 +288,7 @@ void Client::Solicit(uint16_t aRloc16)
     if (error != kErrorNone)
     {
         FreeMessage(message);
-        LogWarn("Failed to send DHCPv6 Solicit: %s", ErrorToString(error));
+        LogWarnOnError(error, "send DHCPv6 Solicit");
     }
 }
 
diff --git a/src/core/net/dhcp6_server.cpp b/src/core/net/dhcp6_server.cpp
index 7fd072cf4d5..ea957073747 100644
--- a/src/core/net/dhcp6_server.cpp
+++ b/src/core/net/dhcp6_server.cpp
@@ -172,11 +172,8 @@ void Server::AddPrefixAgent(const Ip6::Prefix &aIp6Prefix, const Lowpan::Context
     mPrefixAgentsCount++;
 
 exit:
-
-    if (error != kErrorNone)
-    {
-        LogNote("Failed to add DHCPv6 prefix agent: %s", ErrorToString(error));
-    }
+    LogWarnOnError(error, "add DHCPv6 prefix agent");
+    OT_UNUSED_VARIABLE(error);
 }
 
 void Server::HandleUdpReceive(void *aContext, otMessage *aMessage, const otMessageInfo *aMessageInfo)
diff --git a/src/core/net/dnssd_server.cpp b/src/core/net/dnssd_server.cpp
index 385eb88f3a3..e05a7d9c10a 100644
--- a/src/core/net/dnssd_server.cpp
+++ b/src/core/net/dnssd_server.cpp
@@ -170,7 +170,7 @@ void Server::ProcessQuery(Request &aRequest)
             ExitNow();
         }
 
-        LogWarn("Error forwarding to upstream: %s", ErrorToString(error));
+        LogWarnOnError(error, "forwarding to upstream");
 
         rcode = Header::kResponseServerFailure;
 
diff --git a/src/core/net/ip6.cpp b/src/core/net/ip6.cpp
index 57968e90ed2..d5b2e27ed63 100644
--- a/src/core/net/ip6.cpp
+++ b/src/core/net/ip6.cpp
@@ -714,7 +714,7 @@ Error Ip6::HandleFragment(Message &aMessage)
             mReassemblyList.DequeueAndFree(*message);
         }
 
-        LogWarn("Reassembly failed: %s", ErrorToString(error));
+        LogWarnOnError(error, "reassemble");
     }
 
     if (isFragmented)
@@ -769,11 +769,8 @@ void Ip6::SendIcmpError(Message &aMessage, Icmp::Header::Type aIcmpType, Icmp::H
     error = mIcmp.SendError(aIcmpType, aIcmpCode, messageInfo, aMessage);
 
 exit:
-
-    if (error != kErrorNone)
-    {
-        LogWarn("Failed to send ICMP error: %s", ErrorToString(error));
-    }
+    LogWarnOnError(error, "send ICMP");
+    OT_UNUSED_VARIABLE(error);
 }
 
 #else
@@ -916,11 +913,7 @@ Error Ip6::HandlePayload(Header            &aIp6Header,
     }
 
 exit:
-    if (error != kErrorNone)
-    {
-        LogNote("Failed to handle payload: %s", ErrorToString(error));
-    }
-
+    LogWarnOnError(error, "handle payload");
     return error;
 }
 
diff --git a/src/core/net/sntp_client.cpp b/src/core/net/sntp_client.cpp
index 5897a5f3bc2..7718b02ba99 100644
--- a/src/core/net/sntp_client.cpp
+++ b/src/core/net/sntp_client.cpp
@@ -193,7 +193,7 @@ void Client::SendCopy(const Message &aMessage, const Ip6::MessageInfo &aMessageI
     if (error != kErrorNone)
     {
         FreeMessage(messageCopy);
-        LogWarn("Failed to send SNTP request: %s", ErrorToString(error));
+        LogWarnOnError(error, "send SNTP request");
     }
 }
 
diff --git a/src/core/net/srp_server.cpp b/src/core/net/srp_server.cpp
index 3ebeacbff36..635cbedb2c3 100644
--- a/src/core/net/srp_server.cpp
+++ b/src/core/net/srp_server.cpp
@@ -674,7 +674,7 @@ Error Server::PrepareSocket(void)
 exit:
     if (error != kErrorNone)
     {
-        LogError("prepare socket", error);
+        LogWarnOnError(error, "prepare socket");
         IgnoreError(mSocket.Close());
         Stop();
     }
@@ -872,7 +872,7 @@ Error Server::ProcessZoneSection(const Message &aMessage, MessageMetadata &aMeta
     aMetadata.mOffset = offset;
 
 exit:
-    LogError("process DNS Zone section", error);
+    LogWarnOnError(error, "process DNS Zone section");
     return error;
 }
 
@@ -898,7 +898,7 @@ Error Server::ProcessUpdateSection(Host &aHost, const Message &aMessage, Message
     VerifyOrExit(!HasNameConflictsWith(aHost), error = kErrorDuplicated);
 
 exit:
-    LogError("Process DNS Update section", error);
+    LogWarnOnError(error, "Process DNS Update section");
     return error;
 }
 
@@ -987,7 +987,7 @@ Error Server::ProcessHostDescriptionInstruction(Host                  &aHost,
     // the host is being removed or registered.
 
 exit:
-    LogError("process Host Description instructions", error);
+    LogWarnOnError(error, "process Host Description instructions");
     return error;
 }
 
@@ -1106,7 +1106,7 @@ Error Server::ProcessServiceDiscoveryInstructions(Host                  &aHost,
     }
 
 exit:
-    LogError("process Service Discovery instructions", error);
+    LogWarnOnError(error, "process Service Discovery instructions");
     return error;
 }
 
@@ -1205,7 +1205,7 @@ Error Server::ProcessServiceDescriptionInstructions(Host            &aHost,
     aMetadata.mOffset = offset;
 
 exit:
-    LogError("process Service Description instructions", error);
+    LogWarnOnError(error, "process Service Description instructions");
     return error;
 }
 
@@ -1294,7 +1294,7 @@ Error Server::ProcessAdditionalSection(Host *aHost, const Message &aMessage, Mes
     aMetadata.mOffset = offset;
 
 exit:
-    LogError("process DNS Additional section", error);
+    LogWarnOnError(error, "process DNS Additional section");
     return error;
 }
 
@@ -1341,7 +1341,7 @@ Error Server::VerifySignature(const Host::Key  &aKey,
     error = aKey.Verify(hash, signature);
 
 exit:
-    LogError("verify message signature", error);
+    LogWarnOnError(error, "verify message signature");
     FreeMessage(signerNameMessage);
     return error;
 }
@@ -1501,7 +1501,7 @@ void Server::SendResponse(const Dns::UpdateHeader    &aHeader,
     UpdateResponseCounters(aResponseCode);
 
 exit:
-    LogError("send response", error);
+    LogWarnOnError(error, "send response");
     FreeMessageOnError(response, error);
 }
 
@@ -1557,7 +1557,7 @@ void Server::SendResponse(const Dns::UpdateHeader &aHeader,
     UpdateResponseCounters(Dns::UpdateHeader::kResponseSuccess);
 
 exit:
-    LogError("send response", error);
+    LogWarnOnError(error, "send response");
     FreeMessageOnError(response, error);
 }
 
@@ -1570,7 +1570,8 @@ void Server::HandleUdpReceive(Message &aMessage, const Ip6::MessageInfo &aMessag
 {
     Error error = ProcessMessage(aMessage, aMessageInfo);
 
-    LogError("handle DNS message", error);
+    LogWarnOnError(error, "handle DNS message");
+    OT_UNUSED_VARIABLE(error);
 }
 
 Error Server::ProcessMessage(Message &aMessage, const Ip6::MessageInfo &aMessageInfo)
@@ -1813,16 +1814,6 @@ void Server::UpdateAddrResolverCacheTable(const Ip6::MessageInfo &aMessageInfo,
 }
 #endif
 
-#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_WARN)
-void Server::LogError(const char *aActionText, Error aError)
-{
-    if (aError != kErrorNone)
-    {
-        LogWarn("Failed to %s: %s", aActionText, ErrorToString(aError));
-    }
-}
-#endif
-
 //---------------------------------------------------------------------------------------------------------------------
 // Server::Service
 
diff --git a/src/core/net/srp_server.hpp b/src/core/net/srp_server.hpp
index ac39aee7f07..ebe67d8fea2 100644
--- a/src/core/net/srp_server.hpp
+++ b/src/core/net/srp_server.hpp
@@ -1047,12 +1047,6 @@ class Server : public InstanceLocator, private NonCopyable
     void UpdateResponseCounters(Dns::Header::Response aResponseCode);
     void UpdateAddrResolverCacheTable(const Ip6::MessageInfo &aMessageInfo, const Host &aHost);
 
-#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_WARN)
-    static void LogError(const char *aActionText, Error aError);
-#else
-    static void LogError(const char *, Error) {}
-#endif
-
     using LeaseTimer           = TimerMilliIn<Server, &Server::HandleLeaseTimer>;
     using UpdateTimer          = TimerMilliIn<Server, &Server::HandleOutstandingUpdatesTimer>;
     using CompletedUpdatesTask = TaskletIn<Server, &Server::ProcessCompletedUpdates>;
diff --git a/src/core/thread/dua_manager.cpp b/src/core/thread/dua_manager.cpp
index 7d78879a317..9f98b07444d 100644
--- a/src/core/thread/dua_manager.cpp
+++ b/src/core/thread/dua_manager.cpp
@@ -158,7 +158,7 @@ Error DuaManager::GenerateDomainUnicastAddressIid(void)
     }
     else
     {
-        LogWarn("Generate DUA: %s", ErrorToString(error));
+        LogWarnOnError(error, "generate DUA");
     }
 
     return error;
@@ -548,7 +548,7 @@ void DuaManager::PerformNextRegistration(void)
         UpdateCheckDelay(kNoBufDelay);
     }
 
-    LogInfo("PerformNextRegistration: %s", ErrorToString(error));
+    LogWarnOnError(error, "perform next registration");
     FreeMessageOnError(message, error);
 }
 
diff --git a/src/core/thread/energy_scan_server.cpp b/src/core/thread/energy_scan_server.cpp
index 25858058065..c79c7d849bc 100644
--- a/src/core/thread/energy_scan_server.cpp
+++ b/src/core/thread/energy_scan_server.cpp
@@ -198,7 +198,7 @@ void EnergyScanServer::SendReport(void)
 
 exit:
     FreeMessageOnError(mReportMessage, error);
-    MeshCoP::LogError("send scan results", error);
+    LogWarnOnError(error, "send scan results");
     mReportMessage = nullptr;
 }
 
diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index 9f3e5881077..7ba5d8705ae 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -3908,13 +3908,8 @@ void Mle::InformPreviousParent(void)
     LogNote("Sending message to inform previous parent 0x%04x", mPreviousParentRloc);
 
 exit:
-
-    if (error != kErrorNone)
-    {
-        LogWarn("Failed to inform previous parent: %s", ErrorToString(error));
-
-        FreeMessage(message);
-    }
+    LogWarnOnError(error, "inform previous parent");
+    FreeMessageOnError(message, error);
 }
 #endif // OPENTHREAD_CONFIG_MLE_INFORM_PREVIOUS_PARENT_ON_REATTACH
 
diff --git a/src/core/thread/network_data_leader_ftd.cpp b/src/core/thread/network_data_leader_ftd.cpp
index 1b5d077ec90..5cfc44e56a2 100644
--- a/src/core/thread/network_data_leader_ftd.cpp
+++ b/src/core/thread/network_data_leader_ftd.cpp
@@ -680,10 +680,7 @@ void Leader::RegisterNetworkData(uint16_t aRloc16, const NetworkData &aNetworkDa
     if (!mIsClone)
 #endif
     {
-        if (error != kErrorNone)
-        {
-            LogNote("Failed to register network data: %s", ErrorToString(error));
-        }
+        LogWarnOnError(error, "register network data");
     }
 }
 
diff --git a/src/core/thread/panid_query_server.cpp b/src/core/thread/panid_query_server.cpp
index cfa13996133..59dd59131b8 100644
--- a/src/core/thread/panid_query_server.cpp
+++ b/src/core/thread/panid_query_server.cpp
@@ -124,7 +124,7 @@ void PanIdQueryServer::SendConflict(void)
 
 exit:
     FreeMessageOnError(message, error);
-    MeshCoP::LogError("send panid conflict", error);
+    LogWarnOnError(error, "send panid conflict");
 }
 
 void PanIdQueryServer::HandleTimer(void)
diff --git a/src/core/utils/channel_manager.cpp b/src/core/utils/channel_manager.cpp
index 794656f9a50..788a077ca38 100644
--- a/src/core/utils/channel_manager.cpp
+++ b/src/core/utils/channel_manager.cpp
@@ -387,14 +387,11 @@ Error ChannelManager::RequestChannelSelect(bool aSkipQualityCheck)
         LogInfo("Occupancy rate diff too small to change channel");
         ExitNow(error = kErrorAbort);
     }
-    mChannelSelected = newChannel;
-exit:
 
-    if (error != kErrorNone)
-    {
-        LogInfo("Request to select better channel failed, error: %s", ErrorToString(error));
-    }
+    mChannelSelected = newChannel;
 
+exit:
+    LogWarnOnError(error, "select better channel");
     return error;
 }
 #endif // OPENTHREAD_CONFIG_CHANNEL_MONITOR_ENABLE
diff --git a/src/core/utils/otns.cpp b/src/core/utils/otns.cpp
index f19185fb6d4..a130ca3a0d8 100644
--- a/src/core/utils/otns.cpp
+++ b/src/core/utils/otns.cpp
@@ -166,11 +166,9 @@ void Otns::EmitCoapSend(const Coap::Message &aMessage, const Ip6::MessageInfo &a
 
     EmitStatus("coap=send,%d,%d,%d,%s,%s,%d", aMessage.GetMessageId(), aMessage.GetType(), aMessage.GetCode(), uriPath,
                aMessageInfo.GetPeerAddr().ToString().AsCString(), aMessageInfo.GetPeerPort());
+
 exit:
-    if (error != kErrorNone)
-    {
-        LogWarn("EmitCoapSend failed: %s", ErrorToString(error));
-    }
+    LogWarnOnError(error, "EmitCoapSend");
 }
 
 void Otns::EmitCoapReceive(const Coap::Message &aMessage, const Ip6::MessageInfo &aMessageInfo)
@@ -183,10 +181,7 @@ void Otns::EmitCoapReceive(const Coap::Message &aMessage, const Ip6::MessageInfo
     EmitStatus("coap=recv,%d,%d,%d,%s,%s,%d", aMessage.GetMessageId(), aMessage.GetType(), aMessage.GetCode(), uriPath,
                aMessageInfo.GetPeerAddr().ToString().AsCString(), aMessageInfo.GetPeerPort());
 exit:
-    if (error != kErrorNone)
-    {
-        LogWarn("EmitCoapReceive failed: %s", ErrorToString(error));
-    }
+    LogWarnOnError(error, "EmitCoapReceive");
 }
 
 void Otns::EmitCoapSendFailure(Error aError, Coap::Message &aMessage, const Ip6::MessageInfo &aMessageInfo)
@@ -200,10 +195,7 @@ void Otns::EmitCoapSendFailure(Error aError, Coap::Message &aMessage, const Ip6:
                uriPath, aMessageInfo.GetPeerAddr().ToString().AsCString(), aMessageInfo.GetPeerPort(),
                ErrorToString(aError));
 exit:
-    if (error != kErrorNone)
-    {
-        LogWarn("EmitCoapSendFailure failed: %s", ErrorToString(error));
-    }
+    LogWarnOnError(error, "EmitCoapSendFailure");
 }
 
 } // namespace Utils