diff --git a/drivers/ieee802154/Kconfig b/drivers/ieee802154/Kconfig
index 611af2b01b9..1202545e33d 100644
--- a/drivers/ieee802154/Kconfig
+++ b/drivers/ieee802154/Kconfig
@@ -135,6 +135,18 @@ config IEEE802154_2015
 	help
 	  Enable radio driver support for IEEE 802.15.4-2015 frames, including security handling of frames and ACKs.
 
+config IEEE802154_DELAY_TRX_ACC
+	int "Clock accuracy for delayed operations"
+	default 20
+	help
+	  Accuracy of the clock used for scheduling radio delayed operations (delayed transmission
+	  or delayed reception), in ppm.
+
+config IEEE802154_CSL_ENDPOINT
+	bool "Enable support for CSL Endpoint"
+	help
+	  Enable support for CSL Endpoint with delayed reception handling and CSL IE injection.
+
 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 c6cfd68f710..1b54d76270e 100644
--- a/drivers/ieee802154/ieee802154_nrf5.c
+++ b/drivers/ieee802154/ieee802154_nrf5.c
@@ -57,7 +57,11 @@ static struct nrf5_802154_data nrf5_data;
 #define ACK_REQUEST_BIT (1 << 5)
 #define FRAME_PENDING_BYTE 1
 #define FRAME_PENDING_BIT (1 << 4)
-#define TXTIME_OFFSET_US  (5 * USEC_PER_MSEC)
+#define TXTIME_OFFSET_US (1 * USEC_PER_MSEC)
+
+#define DRX_SLOT_PH 0 /* Placeholder delayed reception window ID */
+#define DRX_SLOT_RX 1 /* Actual delayed reception window ID */
+#define PH_DURATION 10 /* Duration of the placeholder window, in microseconds  */
 
 #if defined(CONFIG_IEEE802154_NRF5_UICR_EUI64_ENABLE)
 #if defined(CONFIG_SOC_NRF5340_CPUAPP)
@@ -217,6 +221,7 @@ static void nrf5_get_capabilities_at_boot(void)
 		IEEE802154_HW_TX_RX_ACK |
 		IEEE802154_HW_ENERGY_SCAN |
 		((caps & NRF_802154_CAPABILITY_DELAYED_TX) ? IEEE802154_HW_TXTIME : 0UL) |
+		((caps & NRF_802154_CAPABILITY_DELAYED_RX) ? IEEE802154_HW_RXTIME : 0UL) |
 		IEEE802154_HW_SLEEP_TO_TX |
 		((caps & NRF_802154_CAPABILITY_SECURITY) ? IEEE802154_HW_TX_SEC : 0UL);
 }
@@ -565,6 +570,13 @@ static uint64_t nrf5_get_time(const struct device *dev)
 	return nrf_802154_time_get();
 }
 
+static uint8_t nrf5_get_acc(const struct device *dev)
+{
+	ARG_UNUSED(dev);
+
+	return CONFIG_IEEE802154_DELAY_TRX_ACC;
+}
+
 static int nrf5_start(const struct device *dev)
 {
 	ARG_UNUSED(dev);
@@ -582,7 +594,18 @@ static int nrf5_start(const struct device *dev)
 
 static int nrf5_stop(const struct device *dev)
 {
+#if defined(CONFIG_IEEE802154_CSL_ENDPOINT)
+	if (nrf_802154_sleep_if_idle() != NRF_802154_SLEEP_ERROR_NONE) {
+		if (nrf5_data.event_handler) {
+			nrf5_data.event_handler(dev, IEEE802154_EVENT_SLEEP, NULL);
+		} else {
+			LOG_WRN("Transition to radio sleep cannot be handled.");
+		}
+		return 0;
+	}
+#else
 	ARG_UNUSED(dev);
+#endif
 
 	if (!nrf_802154_sleep()) {
 		LOG_ERR("Error while stopping radio");
@@ -692,6 +715,35 @@ static void nrf5_config_mac_keys(struct ieee802154_key *mac_keys)
 }
 #endif /* CONFIG_NRF_802154_ENCRYPTION */
 
+#if defined(CONFIG_IEEE802154_CSL_ENDPOINT)
+static void nrf5_receive_at(uint32_t start, uint32_t duration, uint8_t channel, uint32_t id)
+{
+	nrf_802154_receive_at(start - TXTIME_OFFSET_US, TXTIME_OFFSET_US, duration, channel, id);
+}
+
+static void nrf5_config_csl_period(uint16_t period)
+{
+	nrf_802154_receive_at_cancel(DRX_SLOT_PH);
+	nrf_802154_receive_at_cancel(DRX_SLOT_RX);
+
+	nrf_802154_csl_writer_period_set(period);
+
+	/* A placeholder reception window is scheduled so that the radio driver is able to inject
+	 * the proper CSL Phase in the transmitted CSL Information Elements.
+	 */
+	nrf5_receive_at(nrf5_data.csl_rx_time, PH_DURATION, nrf_802154_channel_get(), DRX_SLOT_PH);
+}
+
+static void nrf5_schedule_rx(uint8_t channel, uint32_t start, uint32_t duration)
+{
+	nrf5_receive_at(start, duration, channel, DRX_SLOT_RX);
+
+	/* The placeholder reception window is rescheduled for the next period */
+	nrf_802154_receive_at_cancel(DRX_SLOT_PH);
+	nrf5_receive_at(nrf5_data.csl_rx_time, PH_DURATION, channel, DRX_SLOT_PH);
+}
+#endif /* CONFIG_IEEE802154_CSL_ENDPOINT */
+
 static int nrf5_configure(const struct device *dev,
 			  enum ieee802154_config_type type,
 			  const struct ieee802154_config *config)
@@ -766,6 +818,43 @@ static int nrf5_configure(const struct device *dev,
 		break;
 #endif /* CONFIG_NRF_802154_ENCRYPTION */
 
+	case IEEE802154_CONFIG_ENH_ACK_HEADER_IE: {
+		uint8_t short_addr_le[SHORT_ADDRESS_SIZE];
+		uint8_t ext_addr_le[EXTENDED_ADDRESS_SIZE];
+
+		sys_put_le16(config->ack_ie.short_addr, short_addr_le);
+#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
+		memcpy(ext_addr_le, config->ack_ie.ext_addr, EXTENDED_ADDRESS_SIZE);
+#else
+		sys_memcpy_swap(ext_addr_le, config->ack_ie.ext_addr, EXTENDED_ADDRESS_SIZE);
+#endif
+
+		if (config->ack_ie.data_len > 0) {
+			nrf_802154_ack_data_set(short_addr_le, false, config->ack_ie.data,
+						config->ack_ie.data_len, NRF_802154_ACK_DATA_IE);
+			nrf_802154_ack_data_set(ext_addr_le, true, config->ack_ie.data,
+						config->ack_ie.data_len, NRF_802154_ACK_DATA_IE);
+		} else {
+			nrf_802154_ack_data_clear(short_addr_le, false, NRF_802154_ACK_DATA_IE);
+			nrf_802154_ack_data_clear(ext_addr_le, true, NRF_802154_ACK_DATA_IE);
+		}
+	} break;
+
+#if defined(CONFIG_IEEE802154_CSL_ENDPOINT)
+	case IEEE802154_CONFIG_CSL_RX_TIME:
+		nrf5_data.csl_rx_time = config->csl_rx_time;
+		break;
+
+	case IEEE802154_CONFIG_RX_SLOT:
+		nrf5_schedule_rx(config->rx_slot.channel, config->rx_slot.start,
+				 config->rx_slot.duration);
+		break;
+
+	case IEEE802154_CONFIG_CSL_PERIOD:
+		nrf5_config_csl_period(config->csl_period);
+		break;
+#endif /* CONFIG_IEEE802154_CSL_ENDPOINT */
+
 	default:
 		return -EINVAL;
 	}
@@ -807,7 +896,14 @@ void nrf_802154_received_timestamp_raw(uint8_t *data, int8_t power, uint8_t lqi,
 
 void nrf_802154_receive_failed(nrf_802154_rx_error_t error, uint32_t id)
 {
+#if defined(CONFIG_IEEE802154_CSL_ENDPOINT)
+	if ((id == DRX_SLOT_PH) || (id == DRX_SLOT_RX)) {
+		nrf5_stop(net_if_get_device(nrf5_data.iface));
+		return;
+	}
+#else
 	ARG_UNUSED(id);
+#endif
 
 	enum ieee802154_rx_fail_reason reason;
 
@@ -949,6 +1045,7 @@ static struct ieee802154_radio_api nrf5_radio_api = {
 	.tx = nrf5_tx,
 	.ed_scan = nrf5_energy_scan_start,
 	.get_time = nrf5_get_time,
+	.get_sch_acc = nrf5_get_acc,
 	.configure = nrf5_configure,
 };
 
diff --git a/drivers/ieee802154/ieee802154_nrf5.h b/drivers/ieee802154/ieee802154_nrf5.h
index d1a1b12148c..45f8d357416 100644
--- a/drivers/ieee802154/ieee802154_nrf5.h
+++ b/drivers/ieee802154/ieee802154_nrf5.h
@@ -83,6 +83,9 @@ struct nrf5_802154_data {
 
 	/* Capabilities of the network interface. */
 	enum ieee802154_hw_caps capabilities;
+
+	/* Next CSL receive time */
+	uint32_t csl_rx_time;
 };
 
 #endif /* ZEPHYR_DRIVERS_IEEE802154_IEEE802154_NRF5_H_ */
diff --git a/include/net/ieee802154_radio.h b/include/net/ieee802154_radio.h
index 3e8997eeda7..d34e719c9f1 100644
--- a/include/net/ieee802154_radio.h
+++ b/include/net/ieee802154_radio.h
@@ -69,7 +69,8 @@ enum ieee802154_filter_type {
 
 enum ieee802154_event {
 	IEEE802154_EVENT_TX_STARTED, /* Data transmission started */
-	IEEE802154_EVENT_RX_FAILED   /* Data reception failed */
+	IEEE802154_EVENT_RX_FAILED, /* Data reception failed */
+	IEEE802154_EVENT_SLEEP, /* Sleep pending */
 };
 
 enum ieee802154_rx_fail_reason {
@@ -168,11 +169,45 @@ enum ieee802154_config_type {
 	/** Sets the current MAC frame counter value for radios supporting transmit security. */
 	IEEE802154_CONFIG_FRAME_COUNTER,
 
-	/** Configure a radio reception slot */
+	/** Configure a radio reception slot. This can be used for any scheduler reception, e.g.:
+	 *  Zigbee GP device, CSL, TSCH, etc.
+	 *
+	 *  In order to configure a CSL receiver the upper layer should combine several
+	 *  configuration options in the following way:
+	 *    1. Use ``IEEE802154_CONFIG_ENH_ACK_HEADER_IE`` once to inform the radio driver of the
+	 *  short and extended addresses of the peer to which it should inject CSL IEs.
+	 *    2. Use ``IEEE802154_CONFIG_CSL_RX_TIME`` periodically, before each use of
+	 *  ``IEEE802154_CONFIG_CSL_PERIOD`` setting parameters of the nearest CSL RX window, and
+	 *  before each use of IEEE_CONFIG_RX_SLOT setting parameters of the following (not the
+	 *  nearest one) CSL RX window, to allow the radio driver to calculate the proper CSL Phase
+	 *  to the nearest CSL window to inject in the CSL IEs for both transmitted data and ack
+	 *  frames.
+	 *    3. Use ``IEEE802154_CONFIG_CSL_PERIOD`` on each value change to update the current CSL
+	 *  period value which will be injected in the CSL IEs together with the CSL Phase based on
+	 *  ``IEEE802154_CONFIG_CSL_RX_TIME``.
+	 *    4. Use ``IEEE802154_CONFIG_RX_SLOT`` periodically to schedule the immediate receive
+	 *  window earlier enough before the expected window start time, taking into account
+	 *  possible clock drifts and scheduling uncertainties.
+	 *
+	 *  This diagram shows the usage of the four options over time:
+	 *        Start CSL                                  Schedule CSL window
+	 *
+	 *    ENH_ACK_HEADER_IE                        CSL_RX_TIME (following window)
+	 *         |                                        |
+	 *         | CSL_RX_TIME (nearest window)           | RX_SLOT (nearest window)
+	 *         |    |                                   |   |
+	 *         |    | CSL_PERIOD                        |   |
+	 *         |    |    |                              |   |
+	 *         v    v    v                              v   v
+	 *    ----------------------------------------------------------[ CSL window ]-----+
+	 *                                            ^                                    |
+	 *                                            |                                    |
+	 *                                            +--------------------- loop ---------+
+	 */
 	IEEE802154_CONFIG_RX_SLOT,
 
-	/** Enable CSL receiver (Endpoint) */
-	IEEE802154_CONFIG_CSL_RECEIVER,
+	/** Configure CSL receiver (Endpoint) period */
+	IEEE802154_CONFIG_CSL_PERIOD,
 
 	/** Configure the next CSL receive window center, in units of microseconds,
 	 *  based on the radio time.
@@ -235,11 +270,8 @@ struct ieee802154_config {
 			uint32_t duration;
 		} rx_slot;
 
-		/** ``IEEE802154_CONFIG_CSL_RECEIVER`` */
-		struct {
-			uint32_t period;
-			const uint8_t *addr;
-		} csl_recv;
+		/** ``IEEE802154_CONFIG_CSL_PERIOD`` */
+		uint32_t csl_period;
 
 		/** ``IEEE802154_CONFIG_CSL_RX_TIME`` */
 		uint32_t csl_rx_time;
@@ -315,11 +347,11 @@ struct ieee802154_radio_api {
 	uint64_t (*get_time)(const struct device *dev);
 
 	/** Get the current accuracy, in units of ± ppm, of the clock used for
-	 *  scheduling CSL transmissions or receive windows.
+	 *  scheduling delayed receive or transmit radio operations.
 	 *  Note: Implementations may optimize this value based on operational
 	 *  conditions (i.e.: temperature).
 	 */
-	uint8_t (*get_csl_acc)(const struct device *dev);
+	uint8_t (*get_sch_acc)(const struct device *dev);
 };
 
 /* Make sure that the network interface API is properly setup inside
diff --git a/subsys/net/l2/openthread/Kconfig.thread b/subsys/net/l2/openthread/Kconfig.thread
index 90d1712cccd..06db1e03f09 100644
--- a/subsys/net/l2/openthread/Kconfig.thread
+++ b/subsys/net/l2/openthread/Kconfig.thread
@@ -88,7 +88,13 @@ config OPENTHREAD_CSL_SAMPLE_WINDOW
 
 config OPENTHREAD_CSL_RECEIVE_TIME_AHEAD
 	int "CSL receiver wake up margin in units of 10 symbols"
-	default 3
+	default 480
+
+config OPENTHREAD_CSL_MIN_RECEIVE_ON
+	int "Minimum CSL receive window"
+	default 5696
+	help
+	  The minimum CSL receive window (in microseconds) required to receive a full IEEE 802.15.4 frame
 
 config OPENTHREAD_MAC_SOFTWARE_TX_SECURITY_ENABLE
 	bool "Enable software transmission security logic"
diff --git a/subsys/net/lib/openthread/platform/alarm.c b/subsys/net/lib/openthread/platform/alarm.c
index 6337e431792..036f39e8696 100644
--- a/subsys/net/lib/openthread/platform/alarm.c
+++ b/subsys/net/lib/openthread/platform/alarm.c
@@ -22,6 +22,7 @@ LOG_MODULE_REGISTER(LOG_MODULE_NAME);
 #include <stdio.h>
 
 #include "platform-zephyr.h"
+#include "openthread-core-zephyr-config.h"
 
 static bool timer_ms_fired, timer_us_fired;
 
diff --git a/subsys/net/lib/openthread/platform/openthread-core-zephyr-config.h b/subsys/net/lib/openthread/platform/openthread-core-zephyr-config.h
index bd149d32ba7..d3a130ad875 100644
--- a/subsys/net/lib/openthread/platform/openthread-core-zephyr-config.h
+++ b/subsys/net/lib/openthread/platform/openthread-core-zephyr-config.h
@@ -140,8 +140,8 @@
  * in platform.
  *
  */
-#define OPENTHREAD_CONFIG_PLATFORM_USEC_TIMER_ENABLE                           \
-	(OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE &&                          \
+#define OPENTHREAD_CONFIG_PLATFORM_USEC_TIMER_ENABLE                                               \
+	(CONFIG_OPENTHREAD_CSL_RECEIVER &&                                                         \
 	 (OPENTHREAD_CONFIG_THREAD_VERSION >= OT_THREAD_VERSION_1_2))
 
 /* Zephyr does not use OpenThread's heap. mbedTLS will use heap memory allocated
@@ -283,7 +283,7 @@
  *
  * For some reasons, CSL receivers wake up a little later than expected. This
  * variable specifies how much time that CSL receiver would wake up earlier
- * than the expected sample window. The time is in unit of 10 symbols.
+ * than the expected sample window. The time is in unit of microseconds.
  *
  */
 #ifdef CONFIG_OPENTHREAD_CSL_RECEIVE_TIME_AHEAD
@@ -291,6 +291,16 @@
 	CONFIG_OPENTHREAD_CSL_RECEIVE_TIME_AHEAD
 #endif /* CONFIG_OPENTHREAD_CSL_RECEIVE_TIME_AHEAD */
 
+/**
+ * @def OPENTHREAD_CONFIG_CSL_MIN_RECEIVE_ON
+ *
+ * The minimum CSL receive window (in microseconds) required to receive an IEEE 802.15.4 frame.
+ *
+ */
+#ifdef CONFIG_OPENTHREAD_CSL_MIN_RECEIVE_ON
+#define OPENTHREAD_CONFIG_CSL_MIN_RECEIVE_ON CONFIG_OPENTHREAD_CSL_MIN_RECEIVE_ON
+#endif /* CONFIG_OPENTHREAD_CSL_MIN_RECEIVE_ON */
+
 /**
  * @def OPENTHREAD_CONFIG_MAC_SOFTWARE_TX_SECURITY_ENABLE
  *
diff --git a/subsys/net/lib/openthread/platform/radio.c b/subsys/net/lib/openthread/platform/radio.c
index f330df90253..b78918ce7de 100644
--- a/subsys/net/lib/openthread/platform/radio.c
+++ b/subsys/net/lib/openthread/platform/radio.c
@@ -60,11 +60,10 @@ enum pending_events {
 	PENDING_EVENT_RX_FAILED, /* The RX failed */
 	PENDING_EVENT_TX_STARTED, /* Radio has started transmitting */
 	PENDING_EVENT_TX_DONE, /* Radio transmission finished */
-	PENDING_EVENT_DETECT_ENERGY, /* Requested to start Energy Detection
-				      * procedure.
-				      */
-	PENDING_EVENT_DETECT_ENERGY_DONE, /* Energy Detection finished. */
-	PENDING_EVENT_COUNT /* keep last */
+	PENDING_EVENT_DETECT_ENERGY, /* Requested to start Energy Detection procedure */
+	PENDING_EVENT_DETECT_ENERGY_DONE, /* Energy Detection finished */
+	PENDING_EVENT_SLEEP, /* Sleep if idle */
+	PENDING_EVENT_COUNT /* Keep last */
 };
 
 K_SEM_DEFINE(radio_sem, 0, 1);
@@ -200,6 +199,10 @@ void handle_radio_event(const struct device *dev, enum ieee802154_event evt,
 			}
 			set_pending_event(PENDING_EVENT_RX_FAILED);
 		}
+		break;
+	case IEEE802154_EVENT_SLEEP:
+		set_pending_event(PENDING_EVENT_SLEEP);
+		break;
 	default:
 		/* do nothing - ignore event */
 		break;
@@ -476,6 +479,11 @@ void platformRadioProcess(otInstance *aInstance)
 		}
 	}
 
+	if (is_pending_event_set(PENDING_EVENT_SLEEP)) {
+		reset_pending_event(PENDING_EVENT_SLEEP);
+		ARG_UNUSED(otPlatRadioSleep(aInstance));
+	}
+
 	/* handle events that can't run during transmission */
 	if (sState != OT_RADIO_STATE_TRANSMIT) {
 		if (is_pending_event_set(PENDING_EVENT_DETECT_ENERGY)) {
@@ -570,8 +578,9 @@ otError otPlatRadioSleep(otInstance *aInstance)
 	    sState == OT_RADIO_STATE_RECEIVE ||
 	    sState == OT_RADIO_STATE_TRANSMIT) {
 		error = OT_ERROR_NONE;
-		sState = OT_RADIO_STATE_SLEEP;
-		radio_api->stop(radio_dev);
+		if (radio_api->stop(radio_dev)) {
+			sState = OT_RADIO_STATE_SLEEP;
+		}
 	}
 
 	return error;
@@ -1015,33 +1024,38 @@ void otPlatRadioSetMacFrameCounter(otInstance *aInstance,
 #endif
 
 #if defined(CONFIG_OPENTHREAD_CSL_RECEIVER)
-otError otPlatRadioEnableCsl(otInstance *aInstance, uint32_t aCslPeriod,
+otError otPlatRadioEnableCsl(otInstance *aInstance, uint32_t aCslPeriod, otShortAddress aShortAddr,
 			     const otExtAddress *aExtAddr)
 {
 	int result;
+	uint8_t ie_header[OT_IE_HEADER_SIZE + OT_CSL_IE_SIZE];
+	struct ieee802154_config config;
 
 	ARG_UNUSED(aInstance);
 
-	struct ieee802154_config config = {
-		.csl_recv.period = aCslPeriod,
-		.csl_recv.addr = aExtAddr->m8,
-	};
+	ie_header[0] = CSL_IE_HEADER_BYTES_LO;
+	ie_header[1] = CSL_IE_HEADER_BYTES_HI;
+	/* Leave CSL Phase empty intentionally */
+	sys_put_le16(aCslPeriod, &ie_header[OT_IE_HEADER_SIZE + 2]);
+	config.ack_ie.data = ie_header;
+	config.ack_ie.data_len = OT_IE_HEADER_SIZE + OT_CSL_IE_SIZE;
+	config.ack_ie.short_addr = aShortAddr;
+	config.ack_ie.ext_addr = aExtAddr->m8;
+	result = radio_api->configure(radio_dev, IEEE802154_CONFIG_ENH_ACK_HEADER_IE, &config);
 
-	result = radio_api->configure(radio_dev, IEEE802154_CONFIG_CSL_RECEIVER,
-				      &config);
+	config.csl_period = aCslPeriod;
+	result += radio_api->configure(radio_dev, IEEE802154_CONFIG_CSL_PERIOD, &config);
 
 	return result ? OT_ERROR_FAILED : OT_ERROR_NONE;
 }
 
-void otPlatRadioUpdateCslSampleTime(otInstance *aInstance,
-				    uint32_t aCslSampleTime)
+void otPlatRadioUpdateCslSampleTime(otInstance *aInstance, uint32_t aCslSampleTime)
 {
 	ARG_UNUSED(aInstance);
 
 	struct ieee802154_config config = { .csl_rx_time = aCslSampleTime };
 
-	(void)radio_api->configure(radio_dev, IEEE802154_CONFIG_CSL_RX_TIME,
-				   &config);
+	(void)radio_api->configure(radio_dev, IEEE802154_CONFIG_CSL_RX_TIME, &config);
 }
 #endif /* CONFIG_OPENTHREAD_CSL_RECEIVER */
 
@@ -1049,7 +1063,7 @@ uint8_t otPlatRadioGetCslAccuracy(otInstance *aInstance)
 {
 	ARG_UNUSED(aInstance);
 
-	return radio_api->get_csl_acc(radio_dev);
+	return radio_api->get_sch_acc(radio_dev);
 }
 
 #if defined(CONFIG_OPENTHREAD_LINK_METRICS)