I used IPAddressUtil.isIPv6LiteralAddress (ipAddress) method to validate IPv6, but this method fails for ipv6-address/prefix-length format (format is mentioned
Strictly speaking, a section 2.3 does not describe an address representation, but a representation of address prefix (even the "full-length" prefix is not the same as an address).
An IPv6 address prefix is represented by the notation: ipv6-address/prefix-length where ipv6-address is an IPv6 address in any of the notations listed in Section 2.2.
That means you may safely disregard this format if you need to validate addresses.