diff --git a/examples/openthread/.build-test-rules.yml b/examples/openthread/.build-test-rules.yml
index 00dbdeb3078..23d8d824d00 100644
--- a/examples/openthread/.build-test-rules.yml
+++ b/examples/openthread/.build-test-rules.yml
@@ -72,7 +72,7 @@ examples/openthread/ot_sleepy_device/light_sleep:
   enable:
     - if: SOC_IEEE802154_SUPPORTED == 1
   disable:
-    - if: IDF_TARGET in ["esp32h4", "esp32s31", "esp32h21"]
+    - if: IDF_TARGET in ["esp32h4", "esp32h21"]
       temporary: true
       reason: Not supported yet
   <<: [*openthread_dependencies, *openthread_sleep_dependencies]
diff --git a/examples/openthread/ot_sleepy_device/light_sleep/README.md b/examples/openthread/ot_sleepy_device/light_sleep/README.md
index 6eea2789b6c..c2ddd186162 100644
--- a/examples/openthread/ot_sleepy_device/light_sleep/README.md
+++ b/examples/openthread/ot_sleepy_device/light_sleep/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32-C5 | ESP32-C6 | ESP32-H2 |
-| ----------------- | -------- | -------- | -------- |
+| Supported Targets | ESP32-C5 | ESP32-C6 | ESP32-H2 | ESP32-S31 |
+| ----------------- | -------- | -------- | -------- | --------- |
 # OpenThread Sleepy Device Example
 
 The example demonstrates the Thread Sleepy End Device (SED), the device will enter [Light Sleep mode](https://docs.espressif.com/projects/esp-idf/en/latest/esp32h2/api-reference/system/sleep_modes.html#sleep-modes) during idle state.
diff --git a/examples/openthread/pytest_otbr.py b/examples/openthread/pytest_otbr.py
index aec9c136aee..efe1512737d 100644
--- a/examples/openthread/pytest_otbr.py
+++ b/examples/openthread/pytest_otbr.py
@@ -100,8 +100,9 @@ PORT_MAPPING = {
     'ESPPORT2': 'esp32s3',
     'ESPPORT3': 'esp32c6',
     'ESPPORT4': 'esp32c5',
+    'ESPPORT5': 'esp32s31',
 }
-ESPPORT1, ESPPORT2, ESPPORT3, ESPPORT4 = (os.getenv(name) for name in PORT_MAPPING)
+ESPPORT1, ESPPORT2, ESPPORT3, ESPPORT4, ESPPORT5 = (os.getenv(name) for name in PORT_MAPPING)
 
 _RUNNER_CHANNEL = os.getenv('CHANNEL', '12')
 _RUNNER_NETWORKKEY = os.getenv('NETWORKKEY', '99112233445566778899aabbccddeeff')
@@ -777,6 +778,15 @@ def test_TCP_NAT64(Init_interface: bool, dut: tuple[IdfDut, IdfDut, IdfDut]) ->
             f'{ESPPORT1}|{ESPPORT4}',
             id='h2-c5',
         ),
+        pytest.param(
+            'cli|sleepy',
+            2,
+            f'{os.path.join(os.path.dirname(__file__), "ot_cli")}'
+            f'|{os.path.join(os.path.dirname(__file__), "ot_sleepy_device/light_sleep")}',
+            'esp32h2|esp32s31',
+            f'{ESPPORT1}|{ESPPORT5}',
+            id='h2-s31',
+        ),
     ],
     indirect=True,
 )