diff --git a/modules/openthread/Kconfig b/modules/openthread/Kconfig
index b44316d31cb..ff6d1afbb86 100644
--- a/modules/openthread/Kconfig
+++ b/modules/openthread/Kconfig
@@ -134,6 +134,11 @@ config OPENTHREAD_RADIO_WORKQUEUE_STACK_SIZE
 	default 608 if MPU_STACK_GUARD && FPU_SHARING && CPU_CORTEX_M
 	default 512
 
+config OPENTHREAD_RADIO_WORKQUEUE_PRIORITY
+	int "OpenThread radio transmit workqueue priority"
+	default 0 if OPENTHREAD_THREAD_PREEMPTIVE
+	default 7
+
 endmenu # "Zephyr optimizations"
 
 config OPENTHREAD_SHELL
diff --git a/modules/openthread/platform/radio.c b/modules/openthread/platform/radio.c
index 171fce1b667..91b417b0627 100644
--- a/modules/openthread/platform/radio.c
+++ b/modules/openthread/platform/radio.c
@@ -58,9 +58,9 @@ LOG_MODULE_REGISTER(LOG_MODULE_NAME, CONFIG_OPENTHREAD_PLATFORM_LOG_LEVEL);
 #define FRAME_TYPE_ACK 0x02
 
 #if defined(CONFIG_NET_TC_THREAD_COOPERATIVE)
-#define OT_WORKER_PRIORITY K_PRIO_COOP(CONFIG_OPENTHREAD_THREAD_PRIORITY)
+#define OT_WORKER_PRIORITY K_PRIO_COOP(CONFIG_OPENTHREAD_RADIO_WORKQUEUE_PRIORITY)
 #else
-#define OT_WORKER_PRIORITY K_PRIO_PREEMPT(CONFIG_OPENTHREAD_THREAD_PRIORITY)
+#define OT_WORKER_PRIORITY K_PRIO_PREEMPT(CONFIG_OPENTHREAD_RADIO_WORKQUEUE_PRIORITY)
 #endif
 
 #define CHANNEL_COUNT OT_RADIO_2P4GHZ_OQPSK_CHANNEL_MAX - OT_RADIO_2P4GHZ_OQPSK_CHANNEL_MIN + 1
@@ -622,6 +622,8 @@ static int run_tx_task(otInstance *aInstance)
 		sState = OT_RADIO_STATE_TRANSMIT;
 
 		k_work_submit_to_queue(&ot_work_q, &tx_job);
+		k_yield();
+
 		return 0;
 	} else {
 		return -EBUSY;
diff --git a/tests/subsys/openthread/radio_stub.c b/tests/subsys/openthread/radio_stub.c
index e82bf76d872..2365b714c45 100644
--- a/tests/subsys/openthread/radio_stub.c
+++ b/tests/subsys/openthread/radio_stub.c
@@ -19,8 +19,8 @@
 #define CONFIG_OPENTHREAD_PLATFORM_PKT_TXTIME 1
 #endif
 
-#define CONFIG_OPENTHREAD_THREAD_PRIORITY 5
-#define OT_WORKER_PRIORITY K_PRIO_COOP(CONFIG_OPENTHREAD_THREAD_PRIORITY)
+#define CONFIG_OPENTHREAD_RADIO_WORKQUEUE_PRIORITY 5
+#define OT_WORKER_PRIORITY K_PRIO_COOP(CONFIG_OPENTHREAD_RADIO_WORKQUEUE_PRIORITY)
 #define CONFIG_NET_L2_OPENTHREAD 1
 #define CONFIG_OPENTHREAD_RADIO_WORKQUEUE_STACK_SIZE 512
 #define CONFIG_OPENTHREAD_DEFAULT_RX_SENSITIVITY -100