diff --git a/drivers/ieee802154/Kconfig b/drivers/ieee802154/Kconfig
index 916cc1a9ddba3..a4e4e6d307dbe 100644
--- a/drivers/ieee802154/Kconfig
+++ b/drivers/ieee802154/Kconfig
@@ -92,6 +92,14 @@ config IEEE802154_CSL_DEBUG
 	help
 	  Enable support for CSL debugging by avoiding sleep state in favor of receive state.
 
+config IEEE802154_SELECTIVE_TXCHANNEL
+	bool "Support for selective TX channel setting"
+	help
+	  Enable support for selectively setting TX channel for every timed transmission request.
+	  The drivers MAY have the capability IEEE802154_HW_SELECTIVE_TXCHANNEL only if
+	  this Kconfig option is enabled. If the Kconfig option is disabled the drivers
+	  MUST NOT have the capability.
+
 module = IEEE802154_DRIVER
 module-str = IEEE 802.15.4 driver
 module-help = Sets log level for IEEE 802.15.4 Device Drivers.
diff --git a/drivers/ieee802154/ieee802154_nrf5.c b/drivers/ieee802154/ieee802154_nrf5.c
index 613c913868bfd..8b9c9368e6df7 100644
--- a/drivers/ieee802154/ieee802154_nrf5.c
+++ b/drivers/ieee802154/ieee802154_nrf5.c
@@ -255,6 +255,9 @@ static void nrf5_get_capabilities_at_boot(void)
 		((caps & NRF_802154_CAPABILITY_SECURITY) ? IEEE802154_HW_TX_SEC : 0UL)
 #if defined(CONFIG_IEEE802154_NRF5_MULTIPLE_CCA)
 		| IEEE802154_OPENTHREAD_HW_MULTIPLE_CCA
+#endif
+#if defined(CONFIG_IEEE802154_SELECTIVE_TXCHANNEL)
+		| IEEE802154_HW_SELECTIVE_TXCHANNEL
 #endif
 		;
 }
@@ -540,7 +543,11 @@ static bool nrf5_tx_at(struct nrf5_802154_data *nrf5_radio, struct net_pkt *pkt,
 			.dynamic_data_is_set = net_pkt_ieee802154_mac_hdr_rdy(pkt),
 		},
 		.cca = cca,
+#if defined(CONFIG_IEEE802154_SELECTIVE_TXCHANNEL)
+		.channel = net_pkt_ieee802154_txchannel(pkt),
+#else
 		.channel = nrf_802154_channel_get(),
+#endif
 		.tx_power = {
 			.use_metadata_value = true,
 			.power = nrf5_data.txpwr,
diff --git a/include/zephyr/net/ieee802154_pkt.h b/include/zephyr/net/ieee802154_pkt.h
index 3270f9942483d..b51db139c60b4 100644
--- a/include/zephyr/net/ieee802154_pkt.h
+++ b/include/zephyr/net/ieee802154_pkt.h
@@ -59,6 +59,16 @@ struct net_pkt_cb_ieee802154 {
 			 */
 			uint8_t rssi;
 		};
+		struct {
+#if defined(CONFIG_IEEE802154_SELECTIVE_TXCHANNEL)
+			/* The channel used for timed transmissions.
+			 *
+			 * Please refer to `ieee802154_radio_api::tx` documentation for
+			 * details.
+			 */
+			uint8_t txchannel;
+#endif /* CONFIG_IEEE802154_SELECTIVE_TXCHANNEL */
+		};
 	};
 
 	/* Flags */
@@ -179,6 +189,18 @@ static inline void net_pkt_set_ieee802154_rssi_dbm(struct net_pkt *pkt, int16_t
 	CODE_UNREACHABLE;
 }
 
+#if defined(CONFIG_IEEE802154_SELECTIVE_TXCHANNEL)
+static inline uint8_t net_pkt_ieee802154_txchannel(struct net_pkt *pkt)
+{
+	return net_pkt_cb_ieee802154(pkt)->txchannel;
+}
+
+static inline void net_pkt_set_ieee802154_txchannel(struct net_pkt *pkt, uint8_t channel)
+{
+	net_pkt_cb_ieee802154(pkt)->txchannel = channel;
+}
+#endif /* CONFIG_IEEE802154_SELECTIVE_TXCHANNEL */
+
 static inline bool net_pkt_ieee802154_ack_fpb(struct net_pkt *pkt)
 {
 	return net_pkt_cb_ieee802154(pkt)->ack_fpb;
diff --git a/include/zephyr/net/ieee802154_radio.h b/include/zephyr/net/ieee802154_radio.h
index 10a1922f6fa87..f9a557beba0db 100644
--- a/include/zephyr/net/ieee802154_radio.h
+++ b/include/zephyr/net/ieee802154_radio.h
@@ -520,13 +520,26 @@ enum ieee802154_hw_caps {
 	/** RxOnWhenIdle handling supported */
 	IEEE802154_RX_ON_WHEN_IDLE = BIT(12),
 
+	/** Support for timed transmissions on selective channel.
+	 *
+	 *  This capability informs that transmissions with modes
+	 *  @ref IEEE802154_TX_MODE_TXTIME and @ref IEEE802154_TX_MODE_TXTIME_CCA support
+	 *  scheduling of timed transmissions on selective tx channel.
+	 *  The driver MAY have this capability only if the Kconfig option
+	 *  `CONFIG_IEEE802154_SELECTIVE_TXCHANNEL` is set, otherwise the driver MUST
+	 *  NOT have this capability.
+	 *
+	 *  Please refer to the `ieee802154_radio_api::tx` documentation for details.
+	 */
+	IEEE802154_HW_SELECTIVE_TXCHANNEL = BIT(13),
+
 	/* Note: Update also IEEE802154_HW_CAPS_BITS_COMMON_COUNT when changing
 	 * the ieee802154_hw_caps type.
 	 */
 };
 
 /** @brief Number of bits used by ieee802154_hw_caps type. */
-#define IEEE802154_HW_CAPS_BITS_COMMON_COUNT (13)
+#define IEEE802154_HW_CAPS_BITS_COMMON_COUNT (14)
 
 /** @brief This and higher values are specific to the protocol- or driver-specific extensions. */
 #define IEEE802154_HW_CAPS_BITS_PRIV_START IEEE802154_HW_CAPS_BITS_COMMON_COUNT
@@ -625,6 +638,8 @@ enum ieee802154_tx_mode {
 	 * Transmit packet in the future, at the specified time, no CCA.
 	 *
 	 * @note requires IEEE802154_HW_TXTIME capability.
+	 *
+	 * @note capability IEEE802154_HW_SELECTIVE_TXCHANNEL may apply.
 	 */
 	IEEE802154_TX_MODE_TXTIME,
 
@@ -635,6 +650,8 @@ enum ieee802154_tx_mode {
 	 *
 	 * @note Required for Thread 1.2 Coordinated Sampled Listening feature
 	 * (see Thread specification 1.2.0, ch. 3.2.6.3).
+	 *
+	 * @note capability IEEE802154_HW_SELECTIVE_TXCHANNEL may apply.
 	 */
 	IEEE802154_TX_MODE_TXTIME_CCA,
 
@@ -1657,6 +1674,23 @@ struct ieee802154_radio_api {
 	 * considerable idle waiting time. SHALL return `-ENETDOWN` unless the
 	 * interface is "UP".
 	 *
+	 * @note The transmission occurs on the radio channel set by the call to
+	 * `set_channel()`. However, if the `CONFIG_IEEE802154_SELECTIVE_TXCHANNEL`
+	 * is set and the driver has the capability `IEEE802154_HW_SELECTIVE_TXCHANNEL`
+	 * then the transmissions requested with `mode` IEEE802154_TX_MODE_TXTIME
+	 * or `IEEE802154_TX_MODE_TXTIME_CCA` SHALL use the radio channel
+	 * returned by `net_pkt_ieee802154_txchannel()` to transmit the packet
+	 * and receive an ACK on that channel if the frame requested it. After
+	 * the operation the driver should return to the channel set previously by
+	 * `set_channel()` call.
+	 * It is responsibility of an upper layer to set the required radio channel
+	 * for the packet by a call to `net_pkt_set_ieee802154_txchannel()`.
+	 * This feature allows CSL transmissions as stated in IEEE 802.15.4-2020
+	 * chapter 6.12.2.7 CSL over multiple channels. This feature allows to perform
+	 * a switch of the radio channel as late as possible before transmission without
+	 * interrupting possible reception that could occur if separate `set_channel()`
+	 * was called.
+	 *
 	 * @param dev pointer to IEEE 802.15.4 driver device
 	 * @param mode the transmission mode, some of which require specific
 	 * offloading capabilities.
diff --git a/include/zephyr/net/ieee802154_radio_openthread.h b/include/zephyr/net/ieee802154_radio_openthread.h
index e45bbc6b85b4c..3606c7a2b78be 100644
--- a/include/zephyr/net/ieee802154_radio_openthread.h
+++ b/include/zephyr/net/ieee802154_radio_openthread.h
@@ -64,6 +64,9 @@ enum ieee802154_openthread_tx_mode {
 	 * section 11.3, table 11-2).
 	 *
 	 * Requires IEEE802154_OPENTHREAD_HW_MULTIPLE_CCA capability.
+	 *
+	 * @note Capability @ref IEEE802154_HW_SELECTIVE_TXCHANNEL applies as for
+	 *       @ref IEEE802154_TX_MODE_TXTIME_CCA.
 	 */
 	IEEE802154_OPENTHREAD_TX_MODE_TXTIME_MULTIPLE_CCA = IEEE802154_TX_MODE_PRIV_START
 };
diff --git a/modules/openthread/platform/radio.c b/modules/openthread/platform/radio.c
index 7e2943e734f80..4f9a52de20d2f 100644
--- a/modules/openthread/platform/radio.c
+++ b/modules/openthread/platform/radio.c
@@ -379,12 +379,20 @@ void platformRadioInit(void)
 	radio_api->configure(radio_dev, IEEE802154_CONFIG_EVENT_HANDLER, &cfg);
 }
 
+static void radio_set_channel(uint16_t ch)
+{
+	channel = ch;
+	radio_api->set_channel(radio_dev, ch);
+}
+
 void transmit_message(struct k_work *tx_job)
 {
 	int tx_err;
 
 	ARG_UNUSED(tx_job);
 
+	enum ieee802154_hw_caps radio_caps = radio_api->get_capabilities(radio_dev);
+
 	/*
 	 * The payload is already in tx_payload->data,
 	 * but we need to set the length field
@@ -394,10 +402,7 @@ void transmit_message(struct k_work *tx_job)
 	 */
 	tx_payload->len = sTransmitFrame.mLength - FCS_SIZE;
 
-	channel = sTransmitFrame.mChannel;
-
-	radio_api->set_channel(radio_dev, channel);
-	radio_api->set_txpower(radio_dev, get_transmit_power_for_channel(channel));
+	radio_api->set_txpower(radio_dev, get_transmit_power_for_channel(sTransmitFrame.mChannel));
 
 #if defined(CONFIG_OPENTHREAD_TIME_SYNC)
 	if (sTransmitFrame.mInfo.mTxInfo.mIeInfo->mTimeIeOffset != 0) {
@@ -415,17 +420,27 @@ void transmit_message(struct k_work *tx_job)
 					     sTransmitFrame.mInfo.mTxInfo.mIsSecurityProcessed);
 	net_pkt_set_ieee802154_mac_hdr_rdy(tx_pkt, sTransmitFrame.mInfo.mTxInfo.mIsHeaderUpdated);
 
-	if ((radio_api->get_capabilities(radio_dev) & IEEE802154_HW_TXTIME) &&
+	if ((radio_caps & IEEE802154_HW_TXTIME) &&
 	    (sTransmitFrame.mInfo.mTxInfo.mTxDelay != 0)) {
 #if defined(CONFIG_NET_PKT_TXTIME)
 		uint32_t tx_at = sTransmitFrame.mInfo.mTxInfo.mTxDelayBaseTime +
 				 sTransmitFrame.mInfo.mTxInfo.mTxDelay;
 		net_pkt_set_timestamp_ns(tx_pkt, convert_32bit_us_wrapped_to_64bit_ns(tx_at));
+#endif
+#if defined(CONFIG_IEEE802154_SELECTIVE_TXCHANNEL)
+		if (radio_caps & IEEE802154_HW_SELECTIVE_TXCHANNEL) {
+			net_pkt_set_ieee802154_txchannel(tx_pkt, sTransmitFrame.mChannel);
+		} else {
+			radio_set_channel(sTransmitFrame.mChannel);
+		}
+#else
+		radio_set_channel(sTransmitFrame.mChannel);
 #endif
 		tx_err =
 			radio_api->tx(radio_dev, IEEE802154_TX_MODE_TXTIME_CCA, tx_pkt, tx_payload);
 	} else if (sTransmitFrame.mInfo.mTxInfo.mCsmaCaEnabled) {
-		if (radio_api->get_capabilities(radio_dev) & IEEE802154_HW_CSMA) {
+		radio_set_channel(sTransmitFrame.mChannel);
+		if (radio_caps & IEEE802154_HW_CSMA) {
 			tx_err = radio_api->tx(radio_dev, IEEE802154_TX_MODE_CSMA_CA, tx_pkt,
 					       tx_payload);
 		} else {
@@ -436,6 +451,7 @@ void transmit_message(struct k_work *tx_job)
 			}
 		}
 	} else {
+		radio_set_channel(sTransmitFrame.mChannel);
 		tx_err = radio_api->tx(radio_dev, IEEE802154_TX_MODE_DIRECT, tx_pkt, tx_payload);
 	}