diff --git a/components/lwip/Kconfig b/components/lwip/Kconfig
index 5f2bb733e8..fcb45c61d2 100644
--- a/components/lwip/Kconfig
+++ b/components/lwip/Kconfig
@@ -1260,10 +1260,9 @@ menu "LWIP"
 
         choice LWIP_HOOK_NETCONN_EXTERNAL_RESOLVE
             prompt "Netconn external resolve Hook"
-            default LWIP_HOOK_NETCONN_EXT_RESOLVE_DEFAULT if OPENTHREAD_DNS64_CLIENT
-            default LWIP_HOOK_NETCONN_EXT_RESOLVE_NONE if !OPENTHREAD_DNS64_CLIENT
+            default LWIP_HOOK_NETCONN_EXT_RESOLVE_NONE
             help
-                Enables custom DNS resolve hook.
+                Enables custom DNS resolve hook (without callback).
                 Setting this to "default" provides weak implementation
                 stub that could be overwritten in application code.
                 Setting this to "custom" provides hook's declaration
@@ -1278,6 +1277,30 @@ menu "LWIP"
 
         endchoice
 
+        config LWIP_HOOK_DNS_EXTERNAL_RESOLVE_SELECT_CUSTOM
+            bool
+            default n
+            help
+                This hidden option helps configure the DNS external resolve
+                hook for external components like OpenThread. It ensures that
+                `LWIP_HOOK_DNS_EXT_RESOLVE_CUSTOM` is selected without directly
+                adding a dependency in the choice construct.
+
+        choice LWIP_HOOK_DNS_EXTERNAL_RESOLVE
+            prompt "DNS external resolve Hook"
+            default LWIP_HOOK_DNS_EXT_RESOLVE_CUSTOM if LWIP_HOOK_DNS_EXTERNAL_RESOLVE_SELECT_CUSTOM
+            help
+                Enables custom DNS resolve hook (with callback).
+                Setting this to "custom" provides hook's declaration
+                only and expects the application to implement it.
+
+            config LWIP_HOOK_DNS_EXT_RESOLVE_NONE
+                bool "No hook declared"
+            config LWIP_HOOK_DNS_EXT_RESOLVE_CUSTOM
+                bool "Custom implementation"
+
+        endchoice
+
         choice LWIP_HOOK_IP6_INPUT
             prompt "IPv6 packet input"
             depends on LWIP_IPV6
diff --git a/components/lwip/lwip b/components/lwip/lwip
index bced058f73..0606eed9d8 160000
--- a/components/lwip/lwip
+++ b/components/lwip/lwip
@@ -1 +1 @@
-Subproject commit bced058f737eaabea1aa193f3c365ee78ff555f3
+Subproject commit 0606eed9d8b98a797514fdf6eabb4daf1c8c8cd9
diff --git a/components/lwip/port/include/lwip_default_hooks.h b/components/lwip/port/include/lwip_default_hooks.h
index bdc54064a9..86d33368d4 100644
--- a/components/lwip/port/include/lwip_default_hooks.h
+++ b/components/lwip/port/include/lwip_default_hooks.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -9,6 +9,7 @@
 #include "lwip/ip_addr.h"
 #include "lwip/arch.h"
 #include "lwip/err.h"
+#include "lwip/dns.h"
 #include "lwip/pbuf.h"
 #include "netif/dhcp_state.h"
 
@@ -55,6 +56,14 @@ int lwip_hook_netconn_external_resolve(const char *name, ip_addr_t *addr, u8_t a
 #define LWIP_HOOK_NETCONN_EXTERNAL_RESOLVE lwip_hook_netconn_external_resolve
 #endif /* CONFIG_LWIP_HOOK_NETCONN_EXTERNAL_RESOLVE... */
 
+#if defined(CONFIG_LWIP_HOOK_DNS_EXT_RESOLVE_CUSTOM)
+int lwip_hook_dns_external_resolve(const char *name, ip_addr_t *addr, dns_found_callback found, void *callback_arg,
+                                   u8_t addrtype, err_t *err);
+
+#define LWIP_HOOK_DNS_EXTERNAL_RESOLVE lwip_hook_dns_external_resolve
+#endif /* CONFIG_LWIP_HOOK_DNS_EXT_RESOLVE_CUSTOM */
+
+
 #if defined(CONFIG_LWIP_HOOK_IP6_INPUT_CUSTOM) || defined(CONFIG_LWIP_HOOK_IP6_INPUT_DEFAULT)
 int lwip_hook_ip6_input(struct pbuf *p, struct netif *inp);
 
diff --git a/components/lwip/test_apps/README.md b/components/lwip/test_apps/README.md
index 3a502b1f86..bf47d80ec6 100644
--- a/components/lwip/test_apps/README.md
+++ b/components/lwip/test_apps/README.md
@@ -1,2 +1,2 @@
-| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- | -------- |
diff --git a/components/openthread/Kconfig b/components/openthread/Kconfig
index 0b90b78b01..160084fbcb 100644
--- a/components/openthread/Kconfig
+++ b/components/openthread/Kconfig
@@ -299,6 +299,7 @@ menu "OpenThread"
     config OPENTHREAD_DNS64_CLIENT
         bool "Use dns64 client"
         depends on OPENTHREAD_ENABLED && LWIP_IPV4
+        select LWIP_HOOK_DNS_EXTERNAL_RESOLVE_SELECT_CUSTOM
         default n
         help
             Select this option to acquire NAT64 address from dns servers.
diff --git a/components/openthread/src/esp_openthread_dns64.c b/components/openthread/src/esp_openthread_dns64.c
index 0f3a0124a9..79faa1ad92 100644
--- a/components/openthread/src/esp_openthread_dns64.c
+++ b/components/openthread/src/esp_openthread_dns64.c
@@ -1,26 +1,40 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "esp_openthread_dns64.h"
+#include "esp_openthread_lock.h"
 #include "esp_openthread_state.h"
 
 #include "esp_check.h"
 #include "esp_event.h"
 #include "esp_log.h"
-#include "openthread/instance.h"
-#include "openthread/netdata.h"
 #include "lwip_default_hooks.h"
 #include "lwip/api.h"
+#include "lwip/def.h"
 #include "lwip/dns.h"
+#include "lwip/opt.h"
+#include "openthread/instance.h"
+#include "openthread/netdata.h"
 
 #define TAG "OT_DNS64"
 
+
+typedef struct dns_resolve_entry {
+    char name[DNS_MAX_NAME_LENGTH];
+    dns_found_callback found;
+    void *callback_arg;
+    bool is_using;
+} dns_resolve_entry_t;
+
+static dns_resolve_entry_t s_dns_resolve_entry[DNS_TABLE_SIZE];
+
 esp_err_t esp_openthread_dns64_client_init(void)
 {
     dns_setserver(OPENTHREAD_DNS_SERVER_INDEX, NULL);
+    memset(s_dns_resolve_entry, 0, sizeof(s_dns_resolve_entry));
     return ESP_OK;
 }
 
@@ -41,11 +55,13 @@ esp_err_t esp_openthread_get_nat64_prefix(ip6_addr_t *nat64_prefix)
     otExternalRouteConfig route;
 
     memset(&route, 0, sizeof(route));
+    esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
     while (otNetDataGetNextRoute(instance, &iter, &route) == OT_ERROR_NONE) {
         if (route.mNat64) {
             break;
         }
     }
+    esp_openthread_task_switching_lock_release();
 
     if (route.mNat64) {
         memcpy(nat64_prefix->addr, route.mPrefix.mPrefix.mFields.m8, sizeof(nat64_prefix->addr));
@@ -55,9 +71,39 @@ esp_err_t esp_openthread_get_nat64_prefix(ip6_addr_t *nat64_prefix)
     }
 }
 
-int lwip_hook_netconn_external_resolve(const char *name, ip_addr_t *addr, u8_t addrtype, err_t *err)
+static void dns_found_handler(const char *name, const ip_addr_t *ipaddr, void *callback_arg)
 {
-    if (addrtype == NETCONN_DNS_IPV4) {
+    dns_resolve_entry_t *resolve_entry = (dns_resolve_entry_t *)callback_arg;
+    if (resolve_entry && resolve_entry->found) {
+        if (lwip_strnicmp(name, resolve_entry->name, sizeof(resolve_entry->name)) == 0) {
+            ip_addr_t ipaddr_copy = *ipaddr;
+            ip6_addr_t nat64_prefix;
+            if (ipaddr_copy.type == IPADDR_TYPE_V4 && esp_openthread_get_nat64_prefix(&nat64_prefix) == ESP_OK) {
+                ipaddr_copy.type = IPADDR_TYPE_V6;
+                memcpy(ipaddr_copy.u_addr.ip6.addr, nat64_prefix.addr, sizeof(nat64_prefix.addr));
+                ipaddr_copy.u_addr.ip6.addr[3] = ipaddr->u_addr.ip4.addr;
+                ipaddr_copy.u_addr.ip6.zone = IP6_NO_ZONE;
+            }
+            resolve_entry->found(name, &ipaddr_copy, resolve_entry->callback_arg);
+        }
+        resolve_entry->is_using = false;
+    }
+}
+
+static dns_resolve_entry_t *find_free_dns_resolve_entry(void)
+{
+    for (uint8_t i = 0; i < DNS_TABLE_SIZE; ++i) {
+        if (s_dns_resolve_entry[i].is_using == false) {
+            return &s_dns_resolve_entry[i];
+        }
+    }
+    return NULL;
+}
+
+int lwip_hook_dns_external_resolve(const char *name, ip_addr_t *addr, dns_found_callback found, void *callback_arg,
+                                   u8_t addrtype, err_t *err)
+{
+    if (addrtype == LWIP_DNS_ADDRTYPE_IPV4) {
         return 0;
     }
 
@@ -67,17 +113,32 @@ int lwip_hook_netconn_external_resolve(const char *name, ip_addr_t *addr, u8_t a
         *err = ERR_ABRT;
         return 1;
     }
-
-    *err = netconn_gethostbyname_addrtype(name, addr, NETCONN_DNS_IPV4);
-    if (*err != ERR_OK) {
+    dns_resolve_entry_t *entry = find_free_dns_resolve_entry();
+    if (!entry) {
+        ESP_LOGE(TAG, "Cannot find free dns resolve entry");
+        *err = ERR_MEM;
         return 1;
     }
-    if (addr->type == IPADDR_TYPE_V4) {
-        ip4_addr_t addr_copy = addr->u_addr.ip4;
-        addr->type = IPADDR_TYPE_V6;
-        memcpy(addr->u_addr.ip6.addr, nat64_prefix.addr, sizeof(nat64_prefix.addr));
-        addr->u_addr.ip6.addr[3] = addr_copy.addr;
-        addr->u_addr.ip6.zone = IP6_NO_ZONE;
+
+    strncpy(entry->name, name, strnlen(name, sizeof(entry->name) - 1));
+    entry->name[strnlen(name, sizeof(entry->name) - 1)] = 0;
+    entry->found = found;
+    entry->callback_arg = callback_arg;
+    entry->is_using = true;
+
+    *err = dns_gethostbyname_addrtype(name, addr, dns_found_handler, entry, LWIP_DNS_ADDRTYPE_IPV4);
+    if (*err != ERR_INPROGRESS) {
+        // If dns query is not enqueued, mark the entry not being used.
+        entry->is_using = false;
+    }
+    if (*err == ERR_OK) {
+        if (addr->type == IPADDR_TYPE_V4) {
+            ip4_addr_t addr_copy = addr->u_addr.ip4;
+            addr->type = IPADDR_TYPE_V6;
+            memcpy(addr->u_addr.ip6.addr, nat64_prefix.addr, sizeof(nat64_prefix.addr));
+            addr->u_addr.ip6.addr[3] = addr_copy.addr;
+            addr->u_addr.ip6.zone = IP6_NO_ZONE;
+        }
     }
     return 1;
 }