diff --git a/drivers/usb/typec/tcpm/tcpm.c b/drivers/usb/typec/tcpm/tcpm.c
index 3d6d775e5363..f246d1929cab 100644
--- a/drivers/usb/typec/tcpm/tcpm.c
+++ b/drivers/usb/typec/tcpm/tcpm.c
@@ -1777,7 +1777,27 @@ static int tcpm_pd_svdm(struct tcpm_port *port, struct typec_altmode *adev,
 			}
 			fallthrough;
 		case CMD_DISCOVER_SVID:
+			break;
 		case CMD_DISCOVER_MODES:
+			/*
+			 * 6.4.4.3.3
+			 * A Responder that does not support any Modes Shall return a NAK.
+			 *
+			 * When Initiator meets this case, it should skip
+			 * consuming modes and continue to request Discover
+			 * Modes for the rest of SVIDs or register altmodes
+			 * that have been consumed in previous ACK.
+			 */
+			modep->svid_index++;
+			if (modep->svid_index < modep->nsvids) {
+				u16 svid = modep->svids[modep->svid_index];
+
+				response[0] = VDO(svid, 1, svdm_version, CMD_DISCOVER_MODES);
+				rlen = 1;
+			} else if (port->data_role == TYPEC_HOST) {
+				tcpm_register_partner_altmodes(port);
+			}
+			break;
 		case VDO_CMD_VENDOR(0) ... VDO_CMD_VENDOR(15):
 			break;
 		case CMD_ENTER_MODE: