I noticed error on browser console when loading the page that I added Umbraco form.

Uncaught TypeError: Cannot read properties of undefined (reading 'ready')
    at HTMLDocument.<anonymous>

The error suggested a problem with the reCAPTCHA script not loading properly. Upon careful inspection, it became apparent that the https://www.google.com/recaptcha/api.js script was not being loaded before the form submission event.

I modified the implementation to ensure the reCAPTCHA script loads before the form is submitted. By incorporating a conditional loading of the reCAPTCHA script, I ensured that the script tag dynamically fetched the necessary as follows

@{
    var siteKey = Configuration.GetSection("Umbraco").GetSection("Forms").GetSection("FieldTypes").GetSection("Recaptcha3")["SiteKey"];
    if (!string.IsNullOrEmpty(siteKey))
    {
        var recapctchaJs = String.Format("https://www.google.com/recaptcha/api.js?render={0}", siteKey);
        <script src="@recapctchaJs"></script>
    }
}

Now issue is fixed and form working as expected.