diff --git a/drivers/usb/typec/tcpm/tcpm.c b/drivers/usb/typec/tcpm/tcpm.c
index 0849d4b5fdff..8dd7c2e50545 100644
--- a/drivers/usb/typec/tcpm/tcpm.c
+++ b/drivers/usb/typec/tcpm/tcpm.c
@@ -1444,10 +1444,18 @@ static int tcpm_ams_start(struct tcpm_port *port, enum tcpm_ams ams)
 static void tcpm_queue_vdm(struct tcpm_port *port, const u32 header,
 			   const u32 *data, int cnt)
 {
+	u32 vdo_hdr = port->vdo_data[0];
+
 	WARN_ON(!mutex_is_locked(&port->lock));
 
-	/* Make sure we are not still processing a previous VDM packet */
-	WARN_ON(port->vdm_state > VDM_STATE_DONE);
+	/* If is sending discover_identity, handle received message first */
+	if (PD_VDO_SVDM(vdo_hdr) && PD_VDO_CMD(vdo_hdr) == CMD_DISCOVER_IDENT) {
+		port->send_discover = true;
+		mod_send_discover_delayed_work(port, SEND_DISCOVER_RETRY_MS);
+	} else {
+		/* Make sure we are not still processing a previous VDM packet */
+		WARN_ON(port->vdm_state > VDM_STATE_DONE);
+	}
 
 	port->vdo_count = cnt + 1;
 	port->vdo_data[0] = header;
@@ -1964,11 +1972,13 @@ static void vdm_run_state_machine(struct tcpm_port *port)
 			switch (PD_VDO_CMD(vdo_hdr)) {
 			case CMD_DISCOVER_IDENT:
 				res = tcpm_ams_start(port, DISCOVER_IDENTITY);
-				if (res == 0)
+				if (res == 0) {
 					port->send_discover = false;
-				else if (res == -EAGAIN)
+				} else if (res == -EAGAIN) {
+					port->vdo_data[0] = 0;
 					mod_send_discover_delayed_work(port,
 								       SEND_DISCOVER_RETRY_MS);
+				}
 				break;
 			case CMD_DISCOVER_SVID:
 				res = tcpm_ams_start(port, DISCOVER_SVIDS);
@@ -2051,6 +2061,7 @@ static void vdm_run_state_machine(struct tcpm_port *port)
 			unsigned long timeout;
 
 			port->vdm_retries = 0;
+			port->vdo_data[0] = 0;
 			port->vdm_state = VDM_STATE_BUSY;
 			timeout = vdm_ready_timeout(vdo_hdr);
 			mod_vdm_delayed_work(port, timeout);