diff --git a/subsys/net/lib/coap/coap.c b/subsys/net/lib/coap/coap.c
index 70f2610adf0227..93852fd29298ef 100644
--- a/subsys/net/lib/coap/coap.c
+++ b/subsys/net/lib/coap/coap.c
@@ -1808,6 +1808,8 @@ struct coap_reply *coap_response_received(
 {
 	struct coap_reply *r;
 	uint8_t token[COAP_TOKEN_MAX_LEN];
+	bool piggybacked = false;
+	uint8_t type;
 	uint16_t id;
 	uint8_t tkl;
 	size_t i;
@@ -1817,9 +1819,14 @@ struct coap_reply *coap_response_received(
 		return NULL;
 	}
 
+	type = coap_header_get_type(response);
 	id = coap_header_get_id(response);
 	tkl = coap_header_get_token(response, token);
 
+	if (type == COAP_TYPE_ACK || type == COAP_TYPE_RESET) {
+		piggybacked = true;
+	}
+
 	for (i = 0, r = replies; i < len; i++, r++) {
 		int age;
 
@@ -1827,13 +1834,29 @@ struct coap_reply *coap_response_received(
 			continue;
 		}
 
-		/* Piggybacked must match id when token is empty */
-		if ((r->id != id) && (tkl == 0U)) {
-			continue;
-		}
+		if (piggybacked) {
+			/* In a piggybacked response, the Message ID of the
+			 * Confirmable request and the Acknowledgment MUST
+			 * match, and the tokens of the response and original
+			 * request MUST match.
+			 */
+			if ((r->id != id || (r->tkl != tkl))) {
+				continue;
+			}
 
-		if (tkl > 0 && memcmp(r->token, token, tkl)) {
-			continue;
+			if (r->tkl > 0) {
+				if (memcmp(r->token, token, r->tkl) != 0) {
+					continue;
+				}
+			}
+		} else {
+			/* In a separate response, just the tokens of the
+			 * response and original request MUST match.
+			 */
+			if ((r->tkl == 0) || (r->tkl != tkl) ||
+			    (memcmp(r->token, token, r->tkl) != 0)) {
+				continue;
+			}
 		}
 
 		age = coap_get_option_int(response, COAP_OPTION_OBSERVE);