diff --git a/src/core/mac/sub_mac.cpp b/src/core/mac/sub_mac.cpp
index a17ee5d81..a20eb9059 100644
--- a/src/core/mac/sub_mac.cpp
+++ b/src/core/mac/sub_mac.cpp
@@ -51,6 +51,9 @@ SubMac::SubMac(Instance &aInstance)
     , mRadioCaps(Get<Radio::Radio>().GetCaps())
     , mTransmitFrame(Get<Radio::Radio>().GetTransmitBuffer())
     , mCallbacks(aInstance)
+#if OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
+    , mListenScheduler(aInstance)
+#endif
     , mTimer(aInstance)
 #if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
     , mCslReceiver(aInstance)
@@ -89,6 +92,7 @@ void SubMac::Init(void)
 #if OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
     mActiveTimedRx.Clear();
     mPendingTimedRx.Clear();
+    mListenScheduler.Stop();
 #endif
 
 #if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
@@ -212,6 +216,10 @@ Error SubMac::Enable(void)
 
     SetState(kStateSleep);
 
+#if OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
+    mListenScheduler.Start();
+#endif
+
 exit:
     SuccessOrAssert(error);
     return error;
@@ -224,10 +232,7 @@ Error SubMac::Disable(void)
 #if OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
     mActiveTimedRx.Clear();
     mPendingTimedRx.Clear();
-#endif
-
-#if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
-    mCslReceiver.Stop();
+    mListenScheduler.Stop();
 #endif
 
     mTimer.Stop();
@@ -847,9 +852,16 @@ void SubMac::HandleEnergyScanDone(int8_t aMaxRssi)
 #if OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
 
 void SubMac::ReceiveAt(Radio::Time64 aStartTime, uint32_t aDuration, uint8_t aChannel)
+{
+    TimedRx timedRx;
+
+    timedRx.Init(aStartTime, aDuration, aChannel);
+    ReceiveAt(timedRx);
+}
+
+void SubMac::ReceiveAt(const TimedRx &aTimedRx)
 {
     Radio::SyncedTime now;
-    TimedRx           timedRx;
 
     VerifyOrExit(mState != kStateDisabled);
 
@@ -860,18 +872,29 @@ void SubMac::ReceiveAt(Radio::Time64 aStartTime, uint32_t aDuration, uint8_t aCh
     }
 #endif
 
-    timedRx.Init(aStartTime, aDuration, aChannel);
+    if (!aTimedRx.IsSpecified())
+    {
+        CancelPendingReceiveAt();
+        ExitNow();
+    }
 
     now.SetToNow(Get<Radio::Radio>());
 
-    VerifyOrExit(!timedRx.HasEnded(now));
+    VerifyOrExit(!aTimedRx.HasEnded(now));
 
     if (!ShouldHandle(kCapReceiveTiming))
     {
-        timedRx.ScheduleOnRadio(Get<Radio::Radio>());
+        aTimedRx.ScheduleOnRadio(Get<Radio::Radio>());
         ExitNow();
     }
 
+    VerifyOrExit(mPendingTimedRx != aTimedRx);
+
+    if (!mPendingTimedRx.IsSpecified())
+    {
+        VerifyOrExit(aTimedRx != mActiveTimedRx);
+    }
+
     if (mPendingTimedRx.IsSpecified() && mPendingTimedRx.HasStarted(now) && !mPendingTimedRx.HasEnded(now))
     {
         // Before replacing `mPendingTimedRx` check if the existing one
@@ -891,7 +914,7 @@ void SubMac::ReceiveAt(Radio::Time64 aStartTime, uint32_t aDuration, uint8_t aCh
         }
     }
 
-    mPendingTimedRx = timedRx;
+    mPendingTimedRx = aTimedRx;
 
     switch (mState)
     {
@@ -948,20 +971,15 @@ void SubMac::ProcessTimedRx(void)
     // timed RX, scheduling the timer for upcoming windows, or putting
     // the radio to sleep when active reception window ends.
 
-    Radio::Time64     fireTime = Radio::kMaxTime64;
-    Radio::SyncedTime now;
-
-    mTimer.Stop();
-
-    now.SetToNow(Get<Radio::Radio>());
+    NextRadioFireTime nextFireTime(GetInstance());
 
     // Start pending `TimedRx` if due, or clear it if missed.
 
     if (mPendingTimedRx.IsSpecified())
     {
-        if (mPendingTimedRx.HasStarted(now))
+        if (mPendingTimedRx.HasStarted(nextFireTime.GetNow()))
         {
-            if (!mPendingTimedRx.HasEnded(now))
+            if (!mPendingTimedRx.HasEnded(nextFireTime.GetNow()))
             {
                 StartPendingTimedRx();
             }
@@ -970,13 +988,13 @@ void SubMac::ProcessTimedRx(void)
         }
         else
         {
-            fireTime = mPendingTimedRx.GetStartTime();
+            nextFireTime.UpdateIfEarlier(mPendingTimedRx.GetStartTime());
         }
     }
 
     VerifyOrExit(mActiveTimedRx.IsSpecified());
 
-    if (!mActiveTimedRx.HasEnded(now))
+    if (!mActiveTimedRx.HasEnded(nextFireTime.GetNow()))
     {
         if (mState != kStateTimedReceive)
         {
@@ -984,7 +1002,7 @@ void SubMac::ProcessTimedRx(void)
             SetState(kStateTimedReceive);
         }
 
-        fireTime = Min(fireTime, mActiveTimedRx.GetEndTime());
+        nextFireTime.UpdateIfEarlier(mActiveTimedRx.GetEndTime());
         ExitNow();
     }
 
@@ -1005,22 +1023,7 @@ void SubMac::ProcessTimedRx(void)
     }
 
 exit:
-
-    if (fireTime != Radio::kMaxTime64)
-    {
-        // Schedule the timer to fire at a target radio time `fireTime`,
-        // using the synced reference `now` to translate radio time to
-        // local time.
-
-        uint32_t delay = 0;
-
-        if (fireTime > now.GetAsTime64())
-        {
-            delay = ClampToUint32(fireTime - now.GetAsTime64());
-        }
-
-        StartTimerAt(now.GetAsLocalTimeMicro(), delay);
-    }
+    nextFireTime.ScheduleTimer(mTimer);
 }
 
 void SubMac::TimedRx::Init(Radio::Time64 aStartTime, uint32_t aDuration, uint8_t aChannel)
@@ -1038,6 +1041,17 @@ void SubMac::TimedRx::ScheduleOnRadio(Radio::Radio &aRadio) const
     LogWarnOnError(error, "Radio::ReceiveAt()");
 }
 
+bool SubMac::TimedRx::operator==(const TimedRx &aOther) const
+{
+    bool matches = false;
+
+    VerifyOrExit(mIsSpecified && aOther.mIsSpecified);
+    matches = (mStartTime == aOther.mStartTime) && (mDuration == aOther.mDuration) && (mChannel == aOther.mChannel);
+
+exit:
+    return matches;
+}
+
 #endif // OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
 
 void SubMac::HandleTimer(void)
@@ -1259,5 +1273,126 @@ const char *SubMac::StateToString(State aState)
 
 // LCOV_EXCL_STOP
 
+#if OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
+
+//---------------------------------------------------------------------------------------------------------------------
+// NextRadioFireTime
+
+SubMac::NextRadioFireTime::NextRadioFireTime(Instance &aInstance)
+    : mFireTime(Radio::kMaxTime64)
+{
+    mNow.SetToNow(aInstance.Get<Radio::Radio>());
+}
+
+void SubMac::NextRadioFireTime::ScheduleTimer(TimerMicro &aTimer) const
+{
+    // Schedule `aTimer` to fire at the radio time `mFireTime`
+    // using the synced reference `mNow` to translate radio time to
+    // local time.
+
+    uint32_t delay;
+
+    if (mFireTime == Radio::kMaxTime64)
+    {
+        aTimer.Stop();
+        ExitNow();
+    }
+
+    delay = (mFireTime <= mNow.GetAsTime64()) ? 0 : ClampToUint32(mFireTime - mNow.GetAsTime64());
+
+    aTimer.StartAt(mNow.GetAsLocalTimeMicro(), delay);
+
+exit:
+    return;
+}
+
+//---------------------------------------------------------------------------------------------------------------------
+// ListenScheduler
+
+SubMac::ListenScheduler::ListenScheduler(Instance &aInstance)
+    : InstanceLocator(aInstance)
+    , mTimer(aInstance)
+{
+}
+
+void SubMac::ListenScheduler::Stop(void) { mTimer.Stop(); }
+
+void SubMac::ListenScheduler::Schedule(void)
+{
+    SchedInfo info(GetInstance());
+
+    VerifyOrExit(Get<SubMac>().IsEnabled());
+
+#if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
+    ScheduleCsl(info);
+#endif
+
+    Get<SubMac>().ReceiveAt(info.GetTimedRx());
+
+    info.ScheduleNextFireTimeOn(mTimer);
+
+exit:
+    return;
+}
+
+#if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
+
+void SubMac::ListenScheduler::ScheduleCsl(SchedInfo &aInfo)
+{
+    CslReceiver &cslReceiver = Get<SubMac>().mCslReceiver;
+
+    VerifyOrExit(cslReceiver.IsEnabled());
+
+    // Advance the CSL window once within `kCslTransitionToNextAheadTime`
+    // of the next window's start time, and set the next timer fire time
+    // to that transition point. Both current and next windows are then
+    // considered for timed RX (selecting the earliest one that has not
+    // yet ended).
+
+    while (cslReceiver.GetNextWindow().GetStartTime() <= aInfo.GetNow().GetAsTime64() + kCslTransitionToNextAheadTime)
+    {
+        cslReceiver.AdvanceToNextWindow();
+    }
+
+    aInfo.UpdateNextFireTime(cslReceiver.GetNextWindow().GetStartTime() - kCslTransitionToNextAheadTime);
+
+    aInfo.UpdateTimedRxIfEarlier(cslReceiver.GetNextWindow());
+    aInfo.UpdateTimedRxIfEarlier(cslReceiver.GetCurWindow());
+
+exit:
+    return;
+}
+
+#endif // OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
+
+//---------------------------------------------------------------------------------------------------------------------
+// ListenScheduler::SchedInfo
+
+SubMac::ListenScheduler::SchedInfo::SchedInfo(Instance &aInstance)
+    : mNextFireTime(aInstance)
+{
+}
+
+void SubMac::ListenScheduler::SchedInfo::UpdateTimedRxIfEarlier(const TimedRx &aTimedRx)
+{
+    // Updates `mTimedRx` to `aTimedRx` if `aTimedRx` is specified, has
+    // not yet ended, and starts earlier than the current `mTimedRx`.
+
+    VerifyOrExit(aTimedRx.IsSpecified());
+    VerifyOrExit(!aTimedRx.HasEnded(GetNow()));
+
+    if (mTimedRx.IsSpecified())
+    {
+        VerifyOrExit(aTimedRx.GetStartTime() < mTimedRx.GetStartTime());
+    }
+
+    mTimedRx = aTimedRx;
+
+exit:
+    return;
+}
+
+#endif // OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
+
 } // namespace Mac
 } // namespace ot
diff --git a/src/core/mac/sub_mac.hpp b/src/core/mac/sub_mac.hpp
index 395431ea4..69853f1b8 100644
--- a/src/core/mac/sub_mac.hpp
+++ b/src/core/mac/sub_mac.hpp
@@ -42,6 +42,7 @@
 
 #include "common/callback.hpp"
 #include "common/clearable.hpp"
+#include "common/equatable.hpp"
 #include "common/locator.hpp"
 #include "common/non_copyable.hpp"
 #include "common/timer.hpp"
@@ -597,7 +598,27 @@ private:
 #endif
 
 #if OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
-    class TimedRx : public Clearable<TimedRx>
+    class NextRadioFireTime
+    {
+        // Tracks the current synced time (`mNow`) and the earliest
+        // upcoming target radio fire time (`Radio::Time64`). Used to
+        // schedule a `TimerMicro` by converting the target radio time
+        // to local timer time relative to `mNow`.
+
+    public:
+        explicit NextRadioFireTime(Instance &aInstance);
+
+        const Radio::SyncedTime &GetNow(void) const { return mNow; }
+
+        void UpdateIfEarlier(Radio::Time64 aFireTime) { mFireTime = Min(mFireTime, aFireTime); }
+        void ScheduleTimer(TimerMicro &aTimer) const;
+
+    private:
+        Radio::SyncedTime mNow;
+        Radio::Time64     mFireTime;
+    };
+
+    class TimedRx : public Clearable<TimedRx>, public Unequatable<TimedRx>
     {
     public:
         TimedRx(void) { Clear(); }
@@ -606,10 +627,12 @@ private:
         bool          IsSpecified(void) const { return mIsSpecified; }
         Radio::Time64 GetStartTime(void) const { return mStartTime; }
         Radio::Time64 GetEndTime(void) const { return mStartTime + mDuration; }
+        uint32_t      GetDuration(void) const { return mDuration; }
         uint8_t       GetChannel(void) const { return mChannel; }
         bool          HasStarted(const Radio::SyncedTime &aNow) const { return mStartTime <= aNow.GetAsTime64(); }
         bool          HasEnded(const Radio::SyncedTime &aNow) const { return GetEndTime() <= aNow.GetAsTime64(); }
         void          ScheduleOnRadio(Radio::Radio &aRadio) const;
+        bool          operator==(const TimedRx &aOther) const;
 
     private:
         Radio::Time64 mStartTime;
@@ -617,53 +640,90 @@ private:
         uint8_t       mChannel;
         bool          mIsSpecified;
     };
-#endif
+
+    void HandleListenSchedulerTimer(void) { mListenScheduler.HandleTimer(); }
+
+    class ListenScheduler : public InstanceLocator
+    {
+    public:
+        explicit ListenScheduler(Instance &aInstance);
+
+        void Start(void) { Schedule(); }
+        void Stop(void);
+        void HandleTimer(void) { Schedule(); }
 
 #if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
-    void HandleCslReceiverTimer(void) { mCslReceiver.HandleTimer(); }
+        void UpdateOnCslChange(void) { Schedule(); }
+#endif
 
+    private:
+        static constexpr uint32_t kCslTransitionToNextAheadTime = OPENTHREAD_CONFIG_CSL_RECEIVE_TIME_AHEAD;
+
+        class SchedInfo
+        {
+        public:
+            explicit SchedInfo(Instance &aInstance);
+
+            const Radio::SyncedTime &GetNow(void) const { return mNextFireTime.GetNow(); }
+
+            const TimedRx &GetTimedRx(void) const { return mTimedRx; }
+            void           UpdateTimedRxIfEarlier(const TimedRx &aTimedRx);
+            void           UpdateNextFireTime(Radio::Time64 aTime) { mNextFireTime.UpdateIfEarlier(aTime); }
+            void           ScheduleNextFireTimeOn(TimerMicro &aTimer) { mNextFireTime.ScheduleTimer(aTimer); }
+
+        private:
+            NextRadioFireTime mNextFireTime;
+            TimedRx           mTimedRx;
+        };
+
+        void Schedule(void);
+#if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
+        void ScheduleCsl(SchedInfo &aInfo);
+#endif
+
+        using ListenTimer = TimerMicroIn<SubMac, &SubMac::HandleListenSchedulerTimer>;
+
+        ListenTimer mTimer;
+    };
+
+#endif // OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
+
+#if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
     class CslReceiver : public InstanceLocator
     {
     public:
         explicit CslReceiver(Instance &aInstance);
 
         void Init(void);
-        void Stop(void) { mTimer.Stop(); }
+        bool IsEnabled(void) const { return mPeriod > 0; }
         void SetParams(uint16_t aPeriod, uint8_t aChannel, ShortAddress aShortAddr, const ExtAddress &aExtAddr);
         void ProcessTxDone(const TxFrame::ParseInfo &aFrameInfo, RxFrame *aAckFrame);
         void ProcessRxFrame(const RxFrame &aFrame);
-        void HandleTimer(void) { ScheduleSampleWindow(); }
+        void AdvanceToNextWindow(void);
 
+        const TimedRx     &GetCurWindow(void) const { return mCurWindow; }
+        const TimedRx     &GetNextWindow(void) const { return mNextWindow; }
         const CslAccuracy &GetParentAccuracy(void) const { return mParentAccuracy; }
         void               SetParentAccuracy(const CslAccuracy &aCslAccuracy) { mParentAccuracy = aCslAccuracy; }
 
     private:
         static constexpr uint32_t kMinReceiveOnAhead = OPENTHREAD_CONFIG_MIN_RECEIVE_ON_AHEAD;
         static constexpr uint32_t kMinReceiveOnAfter = OPENTHREAD_CONFIG_MIN_RECEIVE_ON_AFTER;
-        static constexpr uint32_t kReceiveTimeAhead  = OPENTHREAD_CONFIG_CSL_RECEIVE_TIME_AHEAD;
 
-        struct Window
-        {
-            Radio::SyncedTime mStartTime;
-            uint32_t          mDuration;
-        };
-
-        void     RestartTimerAfterSyncUpdate(void);
         void     SetLastSyncToNow(void);
-        void     ScheduleSampleWindow(void);
-        void     DetermineWindow(const Radio::SyncedTime &aSampleTime, Window &aWindow) const;
+        void     Schedule(void);
+        void     UpdateCurAndNextWindows(void);
+        void     DetermineWindow(const Radio::SyncedTime &aSampleTime, TimedRx &aTimedRx) const;
         uint32_t DetermineClockDrift(uint32_t aIntervalUs) const;
-        bool     IsEnabled(void) const { return mPeriod > 0; }
         void     LogReceived(const RxFrame &aFrame);
 
-        using CslTimer = TimerMicroIn<SubMac, &SubMac::HandleCslReceiverTimer>;
-
         uint16_t          mPeriod;
         uint8_t           mChannel;
         uint16_t          mPeerShort;
         Radio::SyncedTime mSampleTime;
         CslAccuracy       mParentAccuracy;
-        CslTimer          mTimer;
+        TimedRx           mCurWindow;
+        TimedRx           mNextWindow;
 #if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_LOCAL_TIME_SYNC
         TimeMicro mLastSync;
 #else
@@ -674,11 +734,10 @@ private:
 #endif // OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
 
     void Init(void);
-
+    bool IsEnabled(void) const { return mState != kStateDisabled; }
     bool RadioSupports(Capability aCapability) const { return (mRadioCaps & aCapability) != 0; }
     bool ShouldHandle(Capability aCapability) const;
     bool ShouldHandleCsmaBackoff(void) const;
-
     void ProcessTransmitSecurity(TxFrame::ParseInfo &aFrameInfo);
     void ReprocessSecurityForRetx(TxFrame::ParseInfo &aFrameInfo);
     void SignalFrameCounterUsed(uint32_t aFrameCounter, uint8_t aKeyIndex);
@@ -688,7 +747,6 @@ private:
     void SampleRssi(void);
     void StartTimer(uint32_t aDelayUs);
     void StartTimerAt(Time aStartTime, uint32_t aDelayUs);
-
     void HandleReceiveDone(RxFrame *aFrame, Error aError);
     void HandleTransmitStarted(TxFrame &aFrame);
     void HandleTransmitDone(TxFrame &aFrame, RxFrame *aAckFrame, Error aError);
@@ -697,6 +755,7 @@ private:
     void HandleTimer(void);
 
 #if OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
+    void ReceiveAt(const TimedRx &aTimedRx);
     void StartPendingTimedRx(void);
     void ProcessTimedRx(void);
 #endif
@@ -732,8 +791,9 @@ private:
     uint8_t mRetxDelayBackoffExponent;
 #endif
 #if OT_CONFIG_MAC_TARGET_TIME_RX_ENABLE
-    TimedRx mActiveTimedRx;
-    TimedRx mPendingTimedRx;
+    TimedRx         mActiveTimedRx;
+    TimedRx         mPendingTimedRx;
+    ListenScheduler mListenScheduler;
 #endif
 
     SubMacTimer mTimer;
diff --git a/src/core/mac/sub_mac_csl_receiver.cpp b/src/core/mac/sub_mac_csl_receiver.cpp
index ab256cea3..04962e639 100644
--- a/src/core/mac/sub_mac_csl_receiver.cpp
+++ b/src/core/mac/sub_mac_csl_receiver.cpp
@@ -44,7 +44,6 @@ RegisterLogModule("SubMac");
 
 SubMac::CslReceiver::CslReceiver(Instance &aInstance)
     : InstanceLocator(aInstance)
-    , mTimer(aInstance)
 {
     Init();
 }
@@ -56,7 +55,8 @@ void SubMac::CslReceiver::Init(void)
     mPeerShort = 0;
     mParentAccuracy.Init();
     mSampleTime.Clear();
-    mTimer.Stop();
+    mCurWindow.Clear();
+    mNextWindow.Clear();
 #if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_LOCAL_TIME_SYNC
     mLastSync.SetValue(0);
 #else
@@ -64,23 +64,6 @@ void SubMac::CslReceiver::Init(void)
 #endif
 }
 
-void SubMac::CslReceiver::RestartTimerAfterSyncUpdate(void)
-{
-    if (mTimer.IsRunning())
-    {
-        uint32_t periodUs = CslPeriodToUsec(mPeriod);
-
-        mTimer.Stop();
-
-        // Rewind sample times by one period. `ScheduleSampleWindow()` will add
-        // this period back, effectively re-evaluating the current CSL period's
-        // schedule using the updated mLastSync.
-        mSampleTime -= periodUs;
-
-        ScheduleSampleWindow();
-    }
-}
-
 void SubMac::CslReceiver::ProcessTxDone(const TxFrame::ParseInfo &aFrameInfo, RxFrame *aAckFrame)
 {
     // Actual synchronization timestamp should be from the sent frame instead of the current time.
@@ -92,7 +75,7 @@ void SubMac::CslReceiver::ProcessTxDone(const TxFrame::ParseInfo &aFrameInfo, Rx
     VerifyOrExit(aFrameInfo.Has<CslIe>());
 
     SetLastSyncToNow();
-    RestartTimerAfterSyncUpdate();
+    Schedule();
 
 exit:
     return;
@@ -114,7 +97,7 @@ void SubMac::CslReceiver::ProcessRxFrame(const RxFrame &aFrame)
 #else
         mLastSync = aFrame.GetTimestamp();
 #endif
-        RestartTimerAfterSyncUpdate();
+        Schedule();
     }
 
 exit:
@@ -126,18 +109,23 @@ void SubMac::CslReceiver::SetParams(uint16_t          aPeriod,
                                     ShortAddress      aShortAddr,
                                     const ExtAddress &aExtAddr)
 {
-    mChannel = aChannel;
-
-    VerifyOrExit((aPeriod != mPeriod) || (aShortAddr != mPeerShort));
+    if ((aPeriod == mPeriod) && (aShortAddr == mPeerShort))
+    {
+        // Handle a CSL channel change only
+        VerifyOrExit(mChannel != aChannel);
+        mChannel = aChannel;
+        VerifyOrExit(IsEnabled());
+        Schedule();
+        ExitNow();
+    }
 
+    mPeriod    = aPeriod;
+    mChannel   = aChannel;
     mPeerShort = aShortAddr;
+
     IgnoreError(Get<Radio::Radio>().EnableCsl(aPeriod, aShortAddr, aExtAddr));
 
-    mPeriod = aPeriod;
-
-    mTimer.Stop();
-
-    if (mPeriod > 0)
+    if (IsEnabled())
     {
         mSampleTime.SetToNow(Get<Radio::Radio>());
 
@@ -146,37 +134,60 @@ void SubMac::CslReceiver::SetParams(uint16_t          aPeriod,
 #else
         mLastSync = mSampleTime.GetAsTime64();
 #endif
-        ScheduleSampleWindow();
-    }
-    else
-    {
-        Get<SubMac>().CancelPendingReceiveAt();
     }
 
+    Schedule();
+
 exit:
     return;
 }
 
-void SubMac::CslReceiver::ScheduleSampleWindow(void)
+void SubMac::CslReceiver::Schedule(void)
 {
-    Window window;
-
-    DetermineWindow(mSampleTime, window);
-    Get<SubMac>().ReceiveAt(window.mStartTime.GetAsTime64(), window.mDuration, mChannel);
-
-    LogDebg("CSL window start %lu, duration %lu", ToUlong(window.mStartTime.GetAsTime32()), ToUlong(window.mDuration));
-
-    // Advance sample time to the next CSL period, update the radio
-    // sample time on `Radio` and schedule the timer ahead of the
-    // next window's start time.
-
-    mSampleTime += CslPeriodToUsec(mPeriod);
-    Get<Radio::Radio>().UpdateCslSampleTime(mSampleTime.GetAsTime32());
-    DetermineWindow(mSampleTime, window);
-    mTimer.FireAt(window.mStartTime.GetAsLocalTimeMicro() - kReceiveTimeAhead);
+    UpdateCurAndNextWindows();
+    Get<SubMac>().mListenScheduler.UpdateOnCslChange();
 }
 
-void SubMac::CslReceiver::DetermineWindow(const Radio::SyncedTime &aSampleTime, Window &aWindow) const
+void SubMac::CslReceiver::AdvanceToNextWindow(void)
+{
+    VerifyOrExit(IsEnabled());
+
+    mSampleTime += CslPeriodToUsec(mPeriod);
+    UpdateCurAndNextWindows();
+
+exit:
+    return;
+}
+
+void SubMac::CslReceiver::UpdateCurAndNextWindows(void)
+{
+    Radio::SyncedTime nextSampleTime;
+
+    if (!IsEnabled())
+    {
+        mCurWindow.Clear();
+        mNextWindow.Clear();
+        ExitNow();
+    }
+
+    DetermineWindow(mSampleTime, mCurWindow);
+
+    nextSampleTime = mSampleTime;
+    nextSampleTime += CslPeriodToUsec(mPeriod);
+
+    Get<Radio::Radio>().UpdateCslSampleTime(nextSampleTime.GetAsTime32());
+
+    DetermineWindow(nextSampleTime, mNextWindow);
+
+    LogDebg("CSL windows (start, dur) - cur (%lu, %lu), next (%lu, %lu)",
+            ToUlong(Radio::ConvertTime64To32(mCurWindow.GetStartTime())), ToUlong(mCurWindow.GetDuration()),
+            ToUlong(Radio::ConvertTime64To32(mNextWindow.GetStartTime())), ToUlong(mNextWindow.GetDuration()));
+
+exit:
+    return;
+}
+
+void SubMac::CslReceiver::DetermineWindow(const Radio::SyncedTime &aSampleTime, TimedRx &aTimedRx) const
 {
     /*
      * CSL sample timing diagram:
@@ -215,10 +226,7 @@ void SubMac::CslReceiver::DetermineWindow(const Radio::SyncedTime &aSampleTime,
     ahead = Min(guardInterval + kMinReceiveOnAhead, halfPeriod);
     after = Min(guardInterval + kMinReceiveOnAfter, halfPeriod);
 
-    aWindow.mStartTime = aSampleTime;
-    aWindow.mStartTime -= ahead;
-
-    aWindow.mDuration = ahead + after;
+    aTimedRx.Init(aSampleTime.GetAsTime64() - ahead, ahead + after, mChannel);
 }
 
 uint32_t SubMac::CslReceiver::DetermineClockDrift(uint32_t aIntervalUs) const
@@ -241,8 +249,6 @@ void SubMac::CslReceiver::SetLastSyncToNow(void)
 void SubMac::CslReceiver::LogReceived(const RxFrame &aFrame)
 {
     RxFrame::ParseInfo frameInfo;
-    Radio::SyncedTime  sampleTime;
-    Window             window;
     uint32_t           margin;
     Radio::Time64      timestamp;
     uint32_t           deviation;
@@ -258,28 +264,23 @@ void SubMac::CslReceiver::LogReceived(const RxFrame &aFrame)
 
     VerifyOrExit((Get<SubMac>().mState == kStateTimedReceive) || (Get<SubMac>().mState == kStateSleep));
 
-    sampleTime = mSampleTime;
-    sampleTime -= CslPeriodToUsec(mPeriod);
-
-    DetermineWindow(sampleTime, window);
-
     // The `kMinReceiveOnAhead` is not considered for the margin since
     // it has no impact on understanding possible deviation errors
     // between transmitter and receiver.
 
-    margin = sampleTime.GetAsTime32() - window.mStartTime.GetAsTime32();
+    margin = mSampleTime.GetAsTime32() - Radio::ConvertTime64To32(mCurWindow.GetStartTime());
     margin -= Min(margin, kMinReceiveOnAhead);
 
     timestamp = aFrame.GetTimestamp() + Radio::kHeaderPhrDuration;
 
-    if (timestamp >= sampleTime.GetAsTime64())
+    if (timestamp >= mSampleTime.GetAsTime64())
     {
-        deviation = ClampToUint32(timestamp - sampleTime.GetAsTime64());
+        deviation = ClampToUint32(timestamp - mSampleTime.GetAsTime64());
         signChar  = '+';
     }
     else
     {
-        deviation = ClampToUint32(sampleTime.GetAsTime64() - timestamp);
+        deviation = ClampToUint32(mSampleTime.GetAsTime64() - timestamp);
         signChar  = '-';
     }
 
@@ -296,7 +297,7 @@ void SubMac::CslReceiver::LogReceived(const RxFrame &aFrame)
     //   expected sample time. This can be due to clock drift and/or
     //   CSL Phase rounding error.
 
-    LogAt(logLevel, "Expected sample time %lu, margin ±%lu, deviation %c%lu", ToUlong(sampleTime.GetAsTime32()),
+    LogAt(logLevel, "Expected sample time %lu, margin ±%lu, deviation %c%lu", ToUlong(mSampleTime.GetAsTime32()),
           ToUlong(margin), signChar, ToUlong(deviation));
 
 exit: