diff --git a/drivers/remoteproc/remoteproc_core.c b/drivers/remoteproc/remoteproc_core.c
index 8393468fa1ee..d21669976ccf 100644
--- a/drivers/remoteproc/remoteproc_core.c
+++ b/drivers/remoteproc/remoteproc_core.c
@@ -1668,18 +1668,21 @@ static void rproc_auto_boot_callback(const struct firmware *fw, void *context)
 	release_firmware(fw);
 }
 
+static void rproc_attach_work(struct work_struct *work)
+{
+	struct rproc *rproc = container_of(work, struct rproc, attach_work);
+
+	rproc_boot(rproc);
+}
+
 static int rproc_trigger_auto_boot(struct rproc *rproc)
 {
 	int ret;
 
-	/*
-	 * Since the remote processor is in a detached state, it has already
-	 * been booted by another entity.  As such there is no point in waiting
-	 * for a firmware image to be loaded, we can simply initiate the process
-	 * of attaching to it immediately.
-	 */
-	if (rproc->state == RPROC_DETACHED)
-		return rproc_boot(rproc);
+	if (rproc->state == RPROC_DETACHED) {
+		schedule_work(&rproc->attach_work);
+		return 0;
+	}
 
 	/*
 	 * We're initiating an asynchronous firmware loading, so we can
@@ -2520,6 +2523,7 @@ struct rproc *rproc_alloc(struct device *dev, const char *name,
 	INIT_LIST_HEAD(&rproc->dump_segments);
 
 	INIT_WORK(&rproc->crash_handler, rproc_crash_handler_work);
+	INIT_WORK(&rproc->attach_work, rproc_attach_work);
 
 	rproc->state = RPROC_OFFLINE;
 
diff --git a/include/linux/remoteproc.h b/include/linux/remoteproc.h
index 7c1546d48008..f1d14d075bf3 100644
--- a/include/linux/remoteproc.h
+++ b/include/linux/remoteproc.h
@@ -259,6 +259,7 @@ enum rproc_features {
  * @subdevs: list of subdevices, to following the running state
  * @notifyids: idr for dynamically assigning rproc-wide unique notify ids
  * @index: index of this rproc device
+ * @attach_work: workqueue for attaching rproc
  * @crash_handler: workqueue for handling a crash
  * @crash_cnt: crash counter
  * @recovery_disabled: flag that state if recovery was disabled
@@ -301,6 +302,7 @@ struct rproc {
 	struct list_head subdevs;
 	struct idr notifyids;
 	int index;
+	struct work_struct attach_work;
 	struct work_struct crash_handler;
 	unsigned int crash_cnt;
 	bool recovery_disabled;