diff --git a/src/border_agent/border_agent.cpp b/src/border_agent/border_agent.cpp
index 247d0c0d1e9..e0eb1a18dda 100644
--- a/src/border_agent/border_agent.cpp
+++ b/src/border_agent/border_agent.cpp
@@ -71,6 +71,9 @@ namespace otbr {
 
 static const char    kBorderAgentServiceType[]    = "_meshcop._udp"; ///< Border agent service type of mDNS
 static constexpr int kBorderAgentServiceDummyPort = 49152;
+#if OTBR_ENABLE_EPSKC
+static const char kBorderAgentEpskcServiceType[] = "_meshcop-e._udp"; ///< Border agent ePSKc service
+#endif
 
 /**
  * Locators
@@ -146,6 +149,10 @@ BorderAgent::BorderAgent(otbr::Ncp::ControllerOpenThread &aNcp, Mdns::Publisher
     , mBaseServiceInstanceName(OTBR_MESHCOP_SERVICE_INSTANCE_NAME)
 {
     mNcp.AddThreadStateChangedCallback([this](otChangedFlags aFlags) { HandleThreadStateChanged(aFlags); });
+
+#if OTBR_ENABLE_EPSKC
+    otBorderAgentSetEphemeralKeyCallback(mNcp.GetInstance(), BorderAgent::HandleEpskcStateChanged, this);
+#endif
 }
 
 otbrError BorderAgent::SetMeshCopServiceValues(const std::string          &aServiceInstanceName,
@@ -210,6 +217,68 @@ void BorderAgent::Stop(void)
     UnpublishMeshCopService();
 }
 
+#if OTBR_ENABLE_EPSKC
+void BorderAgent::HandleEpskcStateChanged(void *aContext)
+{
+    BorderAgent *borderAgent = static_cast<BorderAgent *>(aContext);
+
+    if (otBorderAgentIsEphemeralKeyActive(borderAgent->mNcp.GetInstance()))
+    {
+        borderAgent->PublishEpskcService();
+    }
+    else
+    {
+        borderAgent->UnpublishEpskcService();
+    }
+}
+
+void BorderAgent::PublishEpskcService()
+{
+    otInstance *instance = mNcp.GetInstance();
+    int         port     = otBorderAgentGetUdpPort(instance);
+
+    otbrLogInfo("Publish meshcop-e service %s.%s.local. port %d", mServiceInstanceName.c_str(),
+                kBorderAgentEpskcServiceType, port);
+
+    mPublisher.PublishService(/* aHostName */ "", mServiceInstanceName, kBorderAgentEpskcServiceType,
+                              Mdns::Publisher::SubTypeList{}, port, {}, [this](otbrError aError) {
+                                  if (aError == OTBR_ERROR_ABORTED)
+                                  {
+                                      // OTBR_ERROR_ABORTED is thrown when an ongoing service registration is
+                                      // cancelled. This can happen when the meshcop-e service is being updated
+                                      // frequently. To avoid false alarms, it should not be logged like a real error.
+                                      otbrLogInfo("Cancelled previous publishing meshcop-e service %s.%s.local",
+                                                  mServiceInstanceName.c_str(), kBorderAgentEpskcServiceType);
+                                  }
+                                  else
+                                  {
+                                      otbrLogResult(aError, "Result of publish meshcop-e service %s.%s.local",
+                                                    mServiceInstanceName.c_str(), kBorderAgentEpskcServiceType);
+                                  }
+
+                                  if (aError == OTBR_ERROR_DUPLICATED)
+                                  {
+                                      // Try to unpublish current service in case we are trying to register
+                                      // multiple new services simultaneously when the original service name
+                                      // is conflicted.
+                                      UnpublishEpskcService();
+                                      mServiceInstanceName = GetAlternativeServiceInstanceName();
+                                      PublishEpskcService();
+                                  }
+                              });
+}
+
+void BorderAgent::UnpublishEpskcService()
+{
+    otbrLogInfo("Unpublish meshcop-e service %s.%s.local", mServiceInstanceName.c_str(), kBorderAgentEpskcServiceType);
+
+    mPublisher.UnpublishService(mServiceInstanceName, kBorderAgentEpskcServiceType, [this](otbrError aError) {
+        otbrLogResult(aError, "Result of unpublish meshcop-e service %s.%s.local", mServiceInstanceName.c_str(),
+                      kBorderAgentEpskcServiceType);
+    });
+}
+#endif
+
 void BorderAgent::HandleMdnsState(Mdns::Publisher::State aState)
 {
     VerifyOrExit(IsEnabled());
diff --git a/src/border_agent/border_agent.hpp b/src/border_agent/border_agent.hpp
index 39a0d2c672c..22f4b33d554 100644
--- a/src/border_agent/border_agent.hpp
+++ b/src/border_agent/border_agent.hpp
@@ -149,6 +149,12 @@ class BorderAgent : private NonCopyable
     std::string GetServiceInstanceNameWithExtAddr(const std::string &aServiceInstanceName) const;
     std::string GetAlternativeServiceInstanceName() const;
 
+#if OTBR_ENABLE_EPSKC
+    static void HandleEpskcStateChanged(void *aContext);
+    void        PublishEpskcService(void);
+    void        UnpublishEpskcService(void);
+#endif
+
     otbr::Ncp::ControllerOpenThread &mNcp;
     Mdns::Publisher                 &mPublisher;
     bool                             mIsEnabled;