diff --git a/thread/tests/integration/src/android/net/thread/BorderRoutingTest.java b/thread/tests/integration/src/android/net/thread/BorderRoutingTest.java
index 48f966fd6e..9e8dc3a994 100644
--- a/thread/tests/integration/src/android/net/thread/BorderRoutingTest.java
+++ b/thread/tests/integration/src/android/net/thread/BorderRoutingTest.java
@@ -619,17 +619,36 @@ public class BorderRoutingTest {
                         ICMPV6_ECHO_REQUEST_TYPE, ftdOmr, GROUP_ADDR_SCOPE_4));
     }
 
+    @Test
+    public void nat64_threadDevicePingIpv4InfraDevice_outboundPacketIsForwarded() throws Exception {
+        FullThreadDevice ftd = mFtds.get(0);
+        joinNetworkAndWaitForOmr(ftd, DEFAULT_DATASET);
+        // TODO: enable NAT64 via ThreadNetworkController API instead of ot-ctl
+        mOtCtl.setNat64Cidr(NAT64_CIDR);
+        mOtCtl.setNat64Enabled(true);
+        waitFor(() -> mOtCtl.hasNat64PrefixInNetdata(), Duration.ofSeconds(10));
+
+        ftd.ping(IPV4_SERVER_ADDR);
+
+        assertNotNull(pollForIcmpPacketOnInfraNetwork(ICMP_ECHO, null, IPV4_SERVER_ADDR));
     }
 
     private void setUpInfraNetwork() throws Exception {
+        LinkProperties lp = new LinkProperties();
+        // NAT64 feature requires the infra network to have an IPv4 default route.
+        lp.addRoute(
+                new RouteInfo(
+                        new IpPrefix("0.0.0.0/0") /* destination */,
+                        null /* gateway */,
+                        null,
+                        RouteInfo.RTN_UNICAST,
+                        1500 /* mtu */));
         mInfraNetworkTracker =
                 runAsShell(
                         MANAGE_TEST_NETWORKS,
-                        () ->
-                                initTestNetwork(
-                                        mContext, new LinkProperties(), 5000 /* timeoutMs */));
-        mController.setTestNetworkAsUpstreamAndWait(
-                mInfraNetworkTracker.getTestIface().getInterfaceName());
+                        () -> initTestNetwork(mContext, lp, 5000 /* timeoutMs */));
+        String infraNetworkName = mInfraNetworkTracker.getTestIface().getInterfaceName();
+        mController.setTestNetworkAsUpstreamAndWait(infraNetworkName);
     }
 
     private void tearDownInfraNetwork() {
diff --git a/thread/tests/integration/src/android/net/thread/utils/OtDaemonController.java b/thread/tests/integration/src/android/net/thread/utils/OtDaemonController.java
index b3175fd1c9..15a3f5c074 100644
--- a/thread/tests/integration/src/android/net/thread/utils/OtDaemonController.java
+++ b/thread/tests/integration/src/android/net/thread/utils/OtDaemonController.java
@@ -105,6 +105,29 @@ public final class OtDaemonController {
         return prefixes.isEmpty() ? null : prefixes.get(0);
     }
 
+    /** Enables/Disables NAT64 feature. */
+    public void setNat64Enabled(boolean enabled) {
+        executeCommand("nat64 " + (enabled ? "enable" : "disable"));
+    }
+
+    /** Sets the NAT64 CIDR. */
+    public void setNat64Cidr(String cidr) {
+        executeCommand("nat64 cidr " + cidr);
+    }
+
+    /** Returns whether there's a NAT64 prefix in network data */
+    public boolean hasNat64PrefixInNetdata() {
+        // Example (in the 'Routes' section):
+        // fdb2:bae3:5b59:2:0:0::/96 sn low c000
+        List<String> outputLines = executeCommandAndParse("netdata show");
+        for (String line : outputLines) {
+            if (line.contains(" sn")) {
+                return true;
+            }
+        }
+        return false;
+    }
+
     public String executeCommand(String cmd) {
         return SystemUtil.runShellCommand(OT_CTL + " " + cmd);
     }