diff --git a/hw/ip/rv_dm/data/rv_dm_testplan.hjson b/hw/ip/rv_dm/data/rv_dm_testplan.hjson
index 7ad045e44b0754..f2f88acd2671b0 100644
--- a/hw/ip/rv_dm/data/rv_dm_testplan.hjson
+++ b/hw/ip/rv_dm/data/rv_dm_testplan.hjson
@@ -294,7 +294,7 @@
             - Verify via assertion checks, no transactions were seen on the SBA TL interface.
             '''
       stage: V2
-      tests: [] // TODO(#15668)
+      tests: ["rv_dm_sba_debug_disabled"]
     }
     {
       name: ndmreset_req
diff --git a/hw/ip/rv_dm/dv/env/rv_dm_env.core b/hw/ip/rv_dm/dv/env/rv_dm_env.core
index 1db2f8bc62306b..45719884697a76 100644
--- a/hw/ip/rv_dm/dv/env/rv_dm_env.core
+++ b/hw/ip/rv_dm/dv/env/rv_dm_env.core
@@ -44,6 +44,7 @@ filesets:
       - seq_lib/rv_dm_jtag_dtm_idle_hint_vseq.sv: {is_include_file: true}
       - seq_lib/rv_dm_jtag_dmi_dm_inactive_vseq.sv: {is_include_file: true}
       - seq_lib/rv_dm_jtag_dmi_debug_disabled_vseq.sv: {is_include_file: true}
+      - seq_lib/rv_dm_sba_debug_disabled_vseq.sv: {is_include_file: true}
     file_type: systemVerilogSource
 
 generate:
diff --git a/hw/ip/rv_dm/dv/env/rv_dm_scoreboard.sv b/hw/ip/rv_dm/dv/env/rv_dm_scoreboard.sv
index 7a8f79911c113f..31338cd69a933a 100644
--- a/hw/ip/rv_dm/dv/env/rv_dm_scoreboard.sv
+++ b/hw/ip/rv_dm/dv/env/rv_dm_scoreboard.sv
@@ -186,7 +186,10 @@ class rv_dm_scoreboard extends cip_base_scoreboard #(
                                 item.sprint(uvm_default_line_printer)), UVM_HIGH)
       if (sba_tl_access_q.size() > 0) begin
         compare_sba_access(item, sba_tl_access_q.pop_front());
-      end else begin
+       end else if (cfg.rv_dm_vif.lc_hw_debug_en==lc_ctrl_pkg::Off) begin
+       `uvm_info(`gfn, $sformatf("Does not receive SBA access item:\n%0s",
+                                item.sprint(uvm_default_line_printer)), UVM_HIGH)
+       end else begin
         `uvm_error(`gfn, $sformatf({"Received predicted SBA access but no transaction was seen on ",
                                     "the SBA TL host interface: %0s"},
                                    item.sprint(uvm_default_line_printer)))
diff --git a/hw/ip/rv_dm/dv/env/seq_lib/rv_dm_sba_debug_disabled_vseq.sv b/hw/ip/rv_dm/dv/env/seq_lib/rv_dm_sba_debug_disabled_vseq.sv
new file mode 100644
index 00000000000000..3e895150cb1fba
--- /dev/null
+++ b/hw/ip/rv_dm/dv/env/seq_lib/rv_dm_sba_debug_disabled_vseq.sv
@@ -0,0 +1,32 @@
+// Copyright lowRISC contributors.
+// Licensed under the Apache License, Version 2.0, see LICENSE for details.
+// SPDX-License-Identifier: Apache-2.0
+
+class rv_dm_sba_debug_disabled_vseq extends rv_dm_sba_tl_access_vseq;
+  `uvm_object_utils(rv_dm_sba_debug_disabled_vseq)
+
+  `uvm_object_new
+
+  constraint lc_hw_debug_en_c {
+    lc_hw_debug_en == lc_ctrl_pkg::On;
+  }
+  constraint scanmode_c {
+    scanmode == prim_mubi_pkg::MuBi4False;
+  }
+
+  task body();
+   repeat ($urandom_range(1, 10)) begin
+   csr_wr(.ptr(jtag_dmi_ral.dmcontrol.dmactive), .value(1));
+   req = sba_access_item::type_id::create("req");
+   randomize_req(req);
+   cfg.debugger.sba_access(req);
+   cfg.clk_rst_vif.wait_clks($urandom_range(0, 1000));
+   cfg.rv_dm_vif.lc_hw_debug_en<=lc_ctrl_pkg::Off;
+   csr_wr(.ptr(jtag_dmi_ral.dmcontrol.dmactive), .value(1));
+   req = sba_access_item::type_id::create("req");
+   randomize_req(req);
+   cfg.debugger.sba_access(req);
+   `DV_CHECK_EQ(req.is_err, SbaErrNone)
+   end
+  endtask : body
+endclass  : rv_dm_sba_debug_disabled_vseq
diff --git a/hw/ip/rv_dm/dv/env/seq_lib/rv_dm_vseq_list.sv b/hw/ip/rv_dm/dv/env/seq_lib/rv_dm_vseq_list.sv
index d44e4156105426..63d61305a75532 100644
--- a/hw/ip/rv_dm/dv/env/seq_lib/rv_dm_vseq_list.sv
+++ b/hw/ip/rv_dm/dv/env/seq_lib/rv_dm_vseq_list.sv
@@ -22,3 +22,4 @@
 `include "rv_dm_jtag_dtm_idle_hint_vseq.sv"
 `include "rv_dm_jtag_dmi_dm_inactive_vseq.sv"
 `include "rv_dm_jtag_dmi_debug_disabled_vseq.sv"
+`include "rv_dm_sba_debug_disabled_vseq.sv"
diff --git a/hw/ip/rv_dm/dv/rv_dm_sim_cfg.hjson b/hw/ip/rv_dm/dv/rv_dm_sim_cfg.hjson
index dd759ef6d89e95..6ce61f8e41632b 100644
--- a/hw/ip/rv_dm/dv/rv_dm_sim_cfg.hjson
+++ b/hw/ip/rv_dm/dv/rv_dm_sim_cfg.hjson
@@ -245,6 +245,11 @@
       uvm_test_seq: rv_dm_jtag_dmi_debug_disabled_vseq
       reseed: 2
     }
+    {
+      name: rv_dm_sba_debug_disabled
+      uvm_test_seq: rv_dm_sba_debug_disabled_vseq
+      reseed: 2
+    }
   ]
 
   // List of regressions.