diff --git a/src/cli/cli.cpp b/src/cli/cli.cpp
index 24b8b4d2069..b5d3931c1fd 100644
--- a/src/cli/cli.cpp
+++ b/src/cli/cli.cpp
@@ -199,7 +199,17 @@ void Interpreter::HandleDiagOutput(const char *aFormat, va_list aArguments, void
     static_cast<Interpreter *>(aContext)->HandleDiagOutput(aFormat, aArguments);
 }
 
-void Interpreter::HandleDiagOutput(const char *aFormat, va_list aArguments) { OutputFormatV(aFormat, aArguments); }
+void Interpreter::HandleDiagOutput(const char *aFormat, va_list aArguments)
+{
+    if (strcmp(aFormat, "OT_ERROR_NONE") == 0)
+    {
+        OutputResult(OT_ERROR_NONE);
+    }
+    else
+    {
+        OutputFormatV(aFormat, aArguments);
+    }
+}
 #endif
 
 template <> otError Interpreter::Process<Cmd("version")>(Arg aArgs[])
diff --git a/src/core/diags/README.md b/src/core/diags/README.md
index 4acdc403e19..3db8fae04b1 100644
--- a/src/core/diags/README.md
+++ b/src/core/diags/README.md
@@ -218,6 +218,26 @@ set radio from sleep to receive on channel 11
 status 0x00
 ```
 
+### diag radio receive \[async\] \<number\> \[lpr\]
+
+Set the radio to receive mode and receive a specified number of frames.
+
+- async: Use the non-blocking mode.
+- number: The number of frames expected to be received.
+- l: Show Lqi.
+- p: Show Psdu.
+- r: Show Rssi.
+
+```bash
+> diag radio receive 5 lpr
+0, rssi:-49, lqi:119, len:10, psdu:000102030405060771e
+1, rssi:-51, lqi:112, len:10, psdu:000102030405060771e
+2, rssi:-42, lqi:120, len:10, psdu:000102030405060771e
+3, rssi:-54, lqi:111, len:10, psdu:000102030405060771e
+4, rssi:-56, lqi:108, len:10, psdu:000102030405060771e
+Done
+```
+
 ### diag radio state
 
 Return the state of the radio.
diff --git a/src/core/diags/factory_diags.cpp b/src/core/diags/factory_diags.cpp
index 00aa65ef2ec..2048d1c3ba9 100644
--- a/src/core/diags/factory_diags.cpp
+++ b/src/core/diags/factory_diags.cpp
@@ -587,6 +587,50 @@ void Diags::TransmitPacket(void)
     IgnoreError(Get<Radio>().Transmit(*static_cast<Mac::TxFrame *>(mTxPacket)));
 }
 
+Error Diags::ParseReceiveConfigFormat(const char *aFormat, ReceiveConfig &aConfig)
+{
+    Error error = kErrorNone;
+
+    VerifyOrExit(aFormat != nullptr, error = kErrorInvalidArgs);
+
+    for (const char *arg = aFormat; *arg != '\0'; arg++)
+    {
+        switch (*arg)
+        {
+        case 'r':
+            aConfig.mShowRssi = true;
+            break;
+
+        case 'l':
+            aConfig.mShowLqi = true;
+            break;
+
+        case 'p':
+            aConfig.mShowPsdu = true;
+            break;
+
+        default:
+            ExitNow(error = OT_ERROR_INVALID_ARGS);
+        }
+    }
+
+exit:
+    return error;
+}
+
+Error Diags::RadioReceive(void)
+{
+    Error error;
+
+    SuccessOrExit(error = Get<Radio>().Receive(mChannel));
+    SuccessOrExit(error = Get<Radio>().SetTransmitPower(mTxPower));
+    otPlatDiagChannelSet(mChannel);
+    otPlatDiagTxPowerSet(mTxPower);
+
+exit:
+    return error;
+}
+
 Error Diags::ProcessRadio(uint8_t aArgsLength, char *aArgs[])
 {
     Error error = kErrorInvalidArgs;
@@ -601,12 +645,44 @@ Error Diags::ProcessRadio(uint8_t aArgsLength, char *aArgs[])
     }
     else if (StringMatch(aArgs[0], "receive"))
     {
-        SuccessOrExit(error = Get<Radio>().Receive(mChannel));
-        SuccessOrExit(error = Get<Radio>().SetTransmitPower(mTxPower));
-        otPlatDiagChannelSet(mChannel);
-        otPlatDiagTxPowerSet(mTxPower);
+        ReceiveConfig receiveConfig;
+
+        aArgs++;
+        aArgsLength--;
+
+        if (aArgsLength == 0)
+        {
+            SuccessOrExit(error = RadioReceive());
+            Output("set radio from sleep to receive on channel %d\r\nstatus 0x%02x\r\n", mChannel, error);
+            ExitNow();
+        }
 
-        Output("set radio from sleep to receive on channel %d\r\nstatus 0x%02x\r\n", mChannel, error);
+        if (StringMatch(aArgs[0], "async"))
+        {
+            aArgs++;
+            aArgsLength--;
+            receiveConfig.mIsAsyncCommand = true;
+        }
+
+        VerifyOrExit(aArgsLength > 0);
+        SuccessOrExit(error = Utils::CmdLineParser::ParseAsUint16(aArgs[0], receiveConfig.mNumFrames));
+        aArgs++;
+        aArgsLength--;
+
+        if (aArgsLength > 0)
+        {
+            SuccessOrExit(error = ParseReceiveConfigFormat(aArgs[0], receiveConfig));
+        }
+
+        SuccessOrExit(error = RadioReceive());
+
+        receiveConfig.mIsEnabled = true;
+        mReceiveConfig           = receiveConfig;
+
+        if (!mReceiveConfig.mIsAsyncCommand)
+        {
+            error = kErrorPending;
+        }
     }
     else if (StringMatch(aArgs[0], "state"))
     {
@@ -668,10 +744,54 @@ void Diags::AlarmFired(void)
     }
 }
 
+void Diags::OutputReceivedFrame(const otRadioFrame *aFrame)
+{
+    VerifyOrExit(mReceiveConfig.mIsEnabled && (aFrame != nullptr));
+
+    Output("%u", mReceiveConfig.mReceiveCount++);
+
+    if (mReceiveConfig.mShowRssi)
+    {
+        Output(", rssi:%d", aFrame->mInfo.mRxInfo.mRssi);
+    }
+
+    if (mReceiveConfig.mShowLqi)
+    {
+        Output(", lqi:%u", aFrame->mInfo.mRxInfo.mLqi);
+    }
+
+    if (mReceiveConfig.mShowPsdu)
+    {
+        static constexpr uint16_t kBufSize = 255;
+        char                      buf[kBufSize];
+        StringWriter              writer(buf, sizeof(buf));
+
+        writer.AppendHexBytes(aFrame->mPsdu, aFrame->mLength);
+        Output(", len:%u, psdu:%s", aFrame->mLength, buf);
+    }
+
+    Output("\r\n");
+
+    if (mReceiveConfig.mReceiveCount >= mReceiveConfig.mNumFrames)
+    {
+        mReceiveConfig.mIsEnabled = false;
+
+        if (!mReceiveConfig.mIsAsyncCommand)
+        {
+            Output("OT_ERROR_NONE");
+        }
+    }
+
+exit:
+    return;
+}
+
 void Diags::ReceiveDone(otRadioFrame *aFrame, Error aError)
 {
     if (aError == kErrorNone)
     {
+        OutputReceivedFrame(aFrame);
+
         // for sensitivity test, only record the rssi and lqi for the first and last packet
         if (mStats.mReceivedPackets == 0)
         {
@@ -910,7 +1030,7 @@ Error Diags::ProcessGpio(uint8_t aArgsLength, char *aArgs[])
 
 void Diags::AppendErrorResult(Error aError)
 {
-    if (aError != kErrorNone)
+    if ((aError != kErrorNone) && (aError != kErrorPending))
     {
         Output("failed\r\nstatus %#x\r\n", aError);
     }
diff --git a/src/core/diags/factory_diags.hpp b/src/core/diags/factory_diags.hpp
index 354ac78c61e..0a724c8bf8d 100644
--- a/src/core/diags/factory_diags.hpp
+++ b/src/core/diags/factory_diags.hpp
@@ -177,6 +177,28 @@ class Diags : public InstanceLocator, private NonCopyable
         RawPowerSetting mRawPowerSetting;
     };
 
+    struct ReceiveConfig
+    {
+        ReceiveConfig(void)
+            : mIsEnabled(false)
+            , mIsAsyncCommand(false)
+            , mShowRssi(true)
+            , mShowLqi(true)
+            , mShowPsdu(false)
+            , mReceiveCount(0)
+            , mNumFrames(0)
+        {
+        }
+
+        bool     mIsEnabled : 1;
+        bool     mIsAsyncCommand : 1;
+        bool     mShowRssi : 1;
+        bool     mShowLqi : 1;
+        bool     mShowPsdu : 1;
+        uint16_t mReceiveCount;
+        uint16_t mNumFrames;
+    };
+
     Error ParseCmd(char *aString, uint8_t &aArgsLength, char *aArgs[]);
     Error ProcessChannel(uint8_t aArgsLength, char *aArgs[]);
     Error ProcessFrame(uint8_t aArgsLength, char *aArgs[]);
@@ -198,6 +220,9 @@ class Diags : public InstanceLocator, private NonCopyable
 
     Error GetRawPowerSetting(RawPowerSetting &aRawPowerSetting);
     Error GetPowerSettings(uint8_t aChannel, PowerSettings &aPowerSettings);
+    Error ParseReceiveConfigFormat(const char *aFormat, ReceiveConfig &aConfig);
+    Error RadioReceive(void);
+    void  OutputReceivedFrame(const otRadioFrame *aFrame);
 
     void TransmitPacket(void);
     void Output(const char *aFormat, ...);
@@ -223,6 +248,7 @@ class Diags : public InstanceLocator, private NonCopyable
     bool          mDiagSendOn : 1;
 #endif
 
+    ReceiveConfig        mReceiveConfig;
     otDiagOutputCallback mOutputCallback;
     void                *mOutputContext;
 };