diff --git a/src/core/net/mdns.cpp b/src/core/net/mdns.cpp
index 5b9f99d57..d2a3002b8 100644
--- a/src/core/net/mdns.cpp
+++ b/src/core/net/mdns.cpp
@@ -851,8 +851,19 @@ void Core::RecordInfo::ScheduleAnswer(const AnswerInfo &aInfo)
 
     if (aInfo.mUnicastResponse || aInfo.mLegacyUnicastResponse)
     {
-        mUnicastAnswerPending = true;
-        ExitNow();
+        VerifyOrExit(!mUnicastAnswerPending);
+
+        if (aInfo.mIsProbe || aInfo.mLegacyUnicastResponse ||
+            (GetDurationSinceLastUnicast(aInfo.mQueryRxTime) >= kMinIntervalBetweenUnicast))
+        {
+            mUnicastAnswerPending = true;
+            ExitNow();
+        }
+
+        // If the unicast rate limit (`kMinIntervalBetweenUnicast`) is
+        // reached on a `QU` query, fall through to schedule a multicast
+        // response instead (which has its own rate-limiting logic) so
+        // other queriers on the network can still receive the answer.
     }
 
     if (!aInfo.mIsProbe)
@@ -1052,6 +1063,20 @@ void Core::RecordInfo::UpdateFireTimeOn(FireTime &aFireTime)
         }
     }
 
+    if (mIsLastUnicastValid)
+    {
+        TimeMilli lastUnicastAgeTime = mLastUnicastTime + kLastUnicastTimeAge;
+
+        if (lastUnicastAgeTime <= TimerMilli::GetNow())
+        {
+            mIsLastUnicastValid = false;
+        }
+        else
+        {
+            aFireTime.SetFireTime(lastUnicastAgeTime);
+        }
+    }
+
 exit:
     return;
 }
@@ -1094,6 +1119,11 @@ void Core::RecordInfo::MarkAsAppended(TxMessage &aTxMessage, Section aSection)
         break;
 
     case TxMessage::kUnicastResponse:
+        mAppendState        = kAppendedInUnicastMsg;
+        mLastUnicastTime    = TimerMilli::GetNow();
+        mIsLastUnicastValid = true;
+        break;
+
     case TxMessage::kLegacyUnicastResponse:
         mAppendState = kAppendedInUnicastMsg;
         break;
@@ -1156,6 +1186,20 @@ exit:
     return duration;
 }
 
+uint32_t Core::RecordInfo::GetDurationSinceLastUnicast(TimeMilli aTime) const
+{
+    uint32_t duration;
+
+    SetToUintMax(duration);
+
+    VerifyOrExit(mIsPresent && mIsLastUnicastValid);
+    VerifyOrExit(aTime > mLastUnicastTime, duration = 0);
+    duration = aTime - mLastUnicastTime;
+
+exit:
+    return duration;
+}
+
 //----------------------------------------------------------------------------------------------------------------------
 // Core::FireTime
 
diff --git a/src/core/net/mdns.hpp b/src/core/net/mdns.hpp
index 211bd2e76..fd7e08906 100644
--- a/src/core/net/mdns.hpp
+++ b/src/core/net/mdns.hpp
@@ -1091,6 +1091,7 @@ private:
         void     UpdateFireTimeOn(FireTime &aFireTime);
         void     DetermineNextAggrTxTime(NextFireTime &aNextAggrTxTime) const;
         uint32_t GetDurationSinceLastMulticast(TimeMilli aTime) const;
+        uint32_t GetDurationSinceLastUnicast(TimeMilli aTime) const;
         Error    GetLastMulticastTime(TimeMilli &aLastMulticastTime) const;
 
         // `AppendState` methods: Used to track whether the record
@@ -1116,7 +1117,9 @@ private:
         TimeMilli GetAnswerTime(void) const { return mQueryRxTime + mAnswerDelay; }
 
         static constexpr uint32_t kMinIntervalBetweenMulticast = 1000; // msec
+        static constexpr uint32_t kMinIntervalBetweenUnicast   = 1000; // msec
         static constexpr uint32_t kLastMulticastTimeAge        = 10 * Time::kOneHourInMsec;
+        static constexpr uint32_t kLastUnicastTimeAge          = 10 * Time::kOneHourInMsec;
 
         static_assert(kNotAppended == 0, "kNotAppended MUST be zero, so `Clear()` works correctly");
 
@@ -1124,6 +1127,7 @@ private:
         bool        mMulticastAnswerPending : 1;
         bool        mUnicastAnswerPending : 1;
         bool        mIsLastMulticastValid : 1;
+        bool        mIsLastUnicastValid : 1;
         bool        mCanExtendAnswerDelay : 1;
         uint8_t     mAnnounceCounter;
         AppendState mAppendState;
@@ -1133,6 +1137,7 @@ private:
         TimeMilli   mAnnounceTime;
         TimeMilli   mQueryRxTime;
         TimeMilli   mLastMulticastTime;
+        TimeMilli   mLastUnicastTime;
     };
 
     // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
diff --git a/tests/unit/test_mdns.cpp b/tests/unit/test_mdns.cpp
index 65676bc5f..15c28ba30 100644
--- a/tests/unit/test_mdns.cpp
+++ b/tests/unit/test_mdns.cpp
@@ -4368,6 +4368,15 @@ void TestQuery(void)
     dnsMsg->Validate(host1, kInAdditionalSection);
     dnsMsg->Validate(host2, kInAdditionalSection);
 
+    Log("- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -");
+    Log("Resend the same unicast-response (QU) query and validate that response is not emitted (rate limit)");
+
+    sDnsMessages.Clear();
+    SendQuery("_srv._udp.local.", ResourceRecord::kTypePtr, ResourceRecord::kClassInternet | kClassQueryUnicastFlag);
+
+    AdvanceTime(200);
+    VerifyOrQuit(sDnsMessages.IsEmpty());
+
     Log("- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -");
     Log("Resend the same multicast query and validate that response is not emitted (rate limit)");
 
@@ -4397,6 +4406,51 @@ void TestQuery(void)
     dnsMsg->Validate(host1, kInAdditionalSection);
     dnsMsg->Validate(host2, kInAdditionalSection);
 
+    Log("- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -");
+    Log("Resend the unicast-response (QU) query after > 1 second and validate the response");
+
+    sDnsMessages.Clear();
+    SendQuery("_srv._udp.local.", ResourceRecord::kTypePtr, ResourceRecord::kClassInternet | kClassQueryUnicastFlag);
+
+    AdvanceTime(200);
+
+    dnsMsg = sDnsMessages.GetHead();
+    VerifyOrQuit(dnsMsg != nullptr);
+    VerifyOrQuit(dnsMsg->GetNext() == nullptr);
+
+    dnsMsg->ValidateHeader(kUnicastResponse, /* Q */ 0, /* Ans */ 2, /* Auth */ 0, /* Addnl */ 9);
+
+    dnsMsg->Validate(service1, kInAnswerSection, kCheckPtr);
+    dnsMsg->Validate(service3, kInAnswerSection, kCheckPtr);
+    dnsMsg->Validate(service1, kInAdditionalSection, kCheckSrv | kCheckTxt);
+    dnsMsg->Validate(service3, kInAdditionalSection, kCheckSrv | kCheckTxt);
+    dnsMsg->Validate(host1, kInAdditionalSection);
+    dnsMsg->Validate(host2, kInAdditionalSection);
+
+    Log("- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -");
+    Log("Resend the QU query before 1s unicast interval (when > 1s since last multicast) and validate multicast "
+        "response");
+
+    AdvanceTime(750);
+
+    sDnsMessages.Clear();
+    SendQuery("_srv._udp.local.", ResourceRecord::kTypePtr, ResourceRecord::kClassInternet | kClassQueryUnicastFlag);
+
+    AdvanceTime(200);
+
+    dnsMsg = sDnsMessages.GetHead();
+    VerifyOrQuit(dnsMsg != nullptr);
+    VerifyOrQuit(dnsMsg->GetNext() == nullptr);
+
+    dnsMsg->ValidateHeader(kMulticastResponse, /* Q */ 0, /* Ans */ 2, /* Auth */ 0, /* Addnl */ 9);
+
+    dnsMsg->Validate(service1, kInAnswerSection, kCheckPtr);
+    dnsMsg->Validate(service3, kInAnswerSection, kCheckPtr);
+    dnsMsg->Validate(service1, kInAdditionalSection, kCheckSrv | kCheckTxt);
+    dnsMsg->Validate(service3, kInAdditionalSection, kCheckSrv | kCheckTxt);
+    dnsMsg->Validate(host1, kInAdditionalSection);
+    dnsMsg->Validate(host2, kInAdditionalSection);
+
     Log("- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -");
     Log("Browse for sub-type `_s._sub._srv._udp` and validate two answers");