diff --git a/components/hal/include/hal/ieee802154_common_ll.h b/components/hal/include/hal/ieee802154_common_ll.h
index 1fe732f2c4..9f20e517ea 100644
--- a/components/hal/include/hal/ieee802154_common_ll.h
+++ b/components/hal/include/hal/ieee802154_common_ll.h
@@ -414,6 +414,11 @@ static inline void ieee802154_ll_set_pending_mode(bool enable)
     IEEE802154.conf.pending_enhance = enable;
 }
 
+static inline bool ieee802154_ll_get_pending_mode(void)
+{
+    return IEEE802154.conf.pending_enhance;
+}
+
 FORCE_INLINE_ATTR void ieee802154_ll_set_pending_bit(bool pending)
 {
     IEEE802154.pending_cfg.pending = pending;
diff --git a/components/ieee802154/driver/esp_ieee802154_ack.c b/components/ieee802154/driver/esp_ieee802154_ack.c
index cb21dd72a0..5b03c7e707 100644
--- a/components/ieee802154/driver/esp_ieee802154_ack.c
+++ b/components/ieee802154/driver/esp_ieee802154_ack.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -130,6 +130,13 @@ bool ieee802154_ack_config_pending_bit(const uint8_t *frame)
     // Only set the HW pending bit for the frames with version 0b00 or 0b01.
     bool set_to_hw = (ieee802154_frame_get_version(frame) <= IEEE802154_FRAME_VERSION_1);
 
+    // Check SW should check whether the frame is data request or not.
+    bool sw_check_data_req = ieee802154_ll_get_pending_mode();
+
+    if (sw_check_data_req) {
+        pending_bit = ieee802154_is_data_request(frame);
+    }
+
     ieee802154_ll_pending_mode_t pending_mode = ieee802154_pib_get_pending_mode();
 
     switch (pending_mode) {
@@ -140,20 +147,14 @@ bool ieee802154_ack_config_pending_bit(const uint8_t *frame)
     case IEEE802154_AUTO_PENDING_ENABLE:
     case IEEE802154_AUTO_PENDING_ENHANCED:
         src_mode = ieee802154_frame_get_src_addr(frame, addr);
-
         if (src_mode == IEEE802154_FRAME_SRC_MODE_SHORT || src_mode == IEEE802154_FRAME_SRC_MODE_EXT) {
-            if (ieee802154_addr_in_pending_table(addr, src_mode == IEEE802154_FRAME_SRC_MODE_SHORT)) {
-                pending_bit = true;
-            }
+            pending_bit = ieee802154_addr_in_pending_table(addr, src_mode == IEEE802154_FRAME_SRC_MODE_SHORT);
         }
         break;
     case IEEE802154_AUTO_PENDING_ZIGBEE:
         // If the address type is short and in pending table, set 'pending_bit' false, otherwise set true.
         src_mode = ieee802154_frame_get_src_addr(frame, addr);
-        pending_bit = true;
-        if (src_mode == IEEE802154_FRAME_SRC_MODE_SHORT && ieee802154_addr_in_pending_table(addr, src_mode == IEEE802154_FRAME_SRC_MODE_SHORT)) {
-            pending_bit = false;
-        }
+        pending_bit = !(src_mode == IEEE802154_FRAME_SRC_MODE_SHORT && ieee802154_addr_in_pending_table(addr, src_mode == IEEE802154_FRAME_SRC_MODE_SHORT));
         break;
     default:
         IEEE802154_ASSERT(false);
diff --git a/components/ieee802154/driver/esp_ieee802154_frame.c b/components/ieee802154/driver/esp_ieee802154_frame.c
index 07573d15f6..79642c9bad 100644
--- a/components/ieee802154/driver/esp_ieee802154_frame.c
+++ b/components/ieee802154/driver/esp_ieee802154_frame.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -290,6 +290,28 @@ IEEE802154_STATIC IRAM_ATTR uint8_t ieee802154_frame_payload_offset(const uint8_
     return offset - 1;
 }
 
+bool ieee802154_is_data_request(const uint8_t *frame)
+{
+    if (ieee802154_frame_get_type(frame) != IEEE802154_FRAME_TYPE_COMMAND) {
+        return false;
+    }
+    uint8_t offset = ieee802154_frame_security_header_offset(frame);
+    if (is_security_enabled(frame)) {
+        // skip security field.
+        offset += ieee802154_frame_get_security_field_len(frame);
+    }
+
+    if (ieee802154_frame_get_version(frame) == IEEE802154_FRAME_VERSION_2 && is_ie_present(frame)) {
+        // skip IE fields.
+        offset += ieee802154_frame_get_ie_field_len(frame);
+    }
+    if (frame[offset] == IEEE802154_CMD_DATA_REQ) {
+        return true;
+    }
+
+    return false;
+}
+
 uint8_t IEEE802154_INLINE ieee802154_frame_get_type(const uint8_t *frame)
 {
     return frame[IEEE802154_FRAME_TYPE_OFFSET] & IEEE802154_FRAME_TYPE_MASK;
diff --git a/components/ieee802154/private_include/esp_ieee802154_frame.h b/components/ieee802154/private_include/esp_ieee802154_frame.h
index fea20ca9c0..c46fb31e71 100644
--- a/components/ieee802154/private_include/esp_ieee802154_frame.h
+++ b/components/ieee802154/private_include/esp_ieee802154_frame.h
@@ -203,6 +203,15 @@ esp_err_t ieee802154_frame_get_dest_panid(const uint8_t *frame, uint8_t *panid);
  *
  */
 esp_err_t ieee802154_frame_get_src_panid(const uint8_t *frame, uint8_t *panid);
+
+/**
+ * @brief Check whether the given frame is a MAC Data Request command.
+ *
+ * @param[in] frame Pointer to the raw MAC frame buffer.
+ *
+ * @return true if the frame is a Data Request command, false otherwise.
+ */
+bool ieee802154_is_data_request(const uint8_t *frame);
 #ifdef __cplusplus
 }
 #endif