diff --git a/meta/conf/machine/include/riscv/qemuriscv.inc b/meta/conf/machine/include/riscv/qemuriscv.inc
index bac376ce5a..6e7d4a8adf 100644
--- a/meta/conf/machine/include/riscv/qemuriscv.inc
+++ b/meta/conf/machine/include/riscv/qemuriscv.inc
@@ -29,7 +29,10 @@ QB_SMP ?= "-smp 4"
 QB_KERNEL_CMDLINE_APPEND = "earlycon=sbi"
 QB_CPU:riscv64 ?= "-cpu rva23s64,pmp=true"
 QB_MACHINE = "-machine virt"
-QB_DEFAULT_BIOS = "fw_jump.elf"
+# Workaround: fw_jump.elf causes QEMU RISC-V to hang when KERNEL_DEBUG
+# is enabled, use fw_dynamic.elf in that case instead.
+# See https://bugzilla.yoctoproject.org/show_bug.cgi?id=16409 for more details.
+QB_DEFAULT_BIOS = "${@bb.utils.contains('KERNEL_DEBUG', 'True', 'fw_dynamic.elf', 'fw_jump.elf', d)}"
 QB_TAP_OPT = "-netdev tap,id=net0,ifname=@TAP@,script=no,downscript=no"
 QB_NETWORK_DEVICE = "-device virtio-net-device,netdev=net0,mac=@MAC@"
 QB_ROOTFS_OPT = "-drive id=disk0,file=@ROOTFS@,if=none,format=raw -device virtio-blk-device,drive=disk0"