diff --git a/drivers/remoteproc/remoteproc_core.c b/drivers/remoteproc/remoteproc_core.c
index 1e9fc3112385..1f73dc13ca93 100644
--- a/drivers/remoteproc/remoteproc_core.c
+++ b/drivers/remoteproc/remoteproc_core.c
@@ -1571,6 +1571,15 @@ 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);
+
 	/*
 	 * We're initiating an asynchronous firmware loading, so we can
 	 * be built-in kernel code, without hanging the boot process.