diff --git a/meta-arm/recipes-bsp/trusted-firmware-a/files/0001-qemu_measured_boot.c-ignore-TPM-error-and-continue-w.patch b/meta-arm/recipes-bsp/trusted-firmware-a/files/0001-qemu_measured_boot.c-ignore-TPM-error-and-continue-w.patch
new file mode 100644
index 00000000..2d189d8e
--- /dev/null
+++ b/meta-arm/recipes-bsp/trusted-firmware-a/files/0001-qemu_measured_boot.c-ignore-TPM-error-and-continue-w.patch
@@ -0,0 +1,36 @@
+From 1d1425bde8435d6e2b3e4f2b7bcb2eb293ef9601 Mon Sep 17 00:00:00 2001
+From: Mikko Rapeli <mikko.rapeli@linaro.org>
+Date: Mon, 15 Jan 2024 09:26:56 +0000
+Subject: [PATCH] qemu_measured_boot.c: ignore TPM error and continue with boot
+
+If firmware is configured with TPM support but it's missing
+on HW, e.g. swtpm not started and/or configured with qemu,
+then continue booting. Missing TPM is not a fatal error.
+Enables testing boot without TPM device to see that
+missing TPM is detected further up the SW stack and correct
+fallback actions are taken.
+
+Upstream-Status: Pending
+
+Signed-off-by: Mikko Rapeli <mikko.rapeli@linaro.org>
+---
+ plat/qemu/qemu/qemu_measured_boot.c | 3 ++-
+ 1 file changed, 2 insertions(+), 1 deletion(-)
+
+diff --git a/plat/qemu/qemu/qemu_measured_boot.c b/plat/qemu/qemu/qemu_measured_boot.c
+index 122bb23b14..731b081c47 100644
+--- a/plat/qemu/qemu/qemu_measured_boot.c
++++ b/plat/qemu/qemu/qemu_measured_boot.c
+@@ -79,7 +79,8 @@ void bl2_plat_mboot_finish(void)
+ 		 * Note: In QEMU platform, OP-TEE uses nt_fw_config to get the
+ 		 * secure Event Log buffer address.
+ 		 */
+-		panic();
++		ERROR("Ignoring TPM errors, continuing without\n");
++		return;
+ 	}
+ 
+ 	/* Copy Event Log to Non-secure memory */
+-- 
+2.34.1
+
diff --git a/meta-arm/recipes-bsp/trusted-firmware-a/trusted-firmware-a_2.10.3.bb b/meta-arm/recipes-bsp/trusted-firmware-a/trusted-firmware-a_2.10.3.bb
index b30ac725..13942dbb 100644
--- a/meta-arm/recipes-bsp/trusted-firmware-a/trusted-firmware-a_2.10.3.bb
+++ b/meta-arm/recipes-bsp/trusted-firmware-a/trusted-firmware-a_2.10.3.bb
@@ -11,3 +11,8 @@ SRC_URI_MBEDTLS = "git://github.com/ARMmbed/mbedtls.git;name=mbedtls;protocol=ht
 SRCREV_mbedtls = "72718dd87e087215ce9155a826ee5a66cfbe9631"
 
 LIC_FILES_CHKSUM_MBEDTLS = "file://mbedtls/LICENSE;md5=3b83ef96387f14655fc854ddc3c6bd57"
+
+# continue to boot also without TPM
+SRC_URI += "\
+    file://0001-qemu_measured_boot.c-ignore-TPM-error-and-continue-w.patch \
+"