diff --git a/src/gallium/drivers/panfrost/pan_format.c b/src/gallium/drivers/panfrost/pan_format.c
index b4fb38fefed..4f138ca4027 100644
--- a/src/gallium/drivers/panfrost/pan_format.c
+++ b/src/gallium/drivers/panfrost/pan_format.c
@@ -186,9 +186,17 @@ panfrost_find_format(const struct util_format_description *desc) {
                 return MALI_RGB10_A2I;
 
         case PIPE_FORMAT_Z32_UNORM:
+                return MALI_Z32_UNORM;
+
         case PIPE_FORMAT_Z24X8_UNORM:
         case PIPE_FORMAT_Z24_UNORM_S8_UINT:
-                return MALI_Z32_UNORM;
+                /* Midgard has no dedicated samplers for Z24S8 and Z24X8
+                 * formats, and the GPU expects the depth to be encoded in an
+                 * IEEE 32-bit float. Turn all Z24_UNORM variants into R32UI
+                 * and let the shader do the conversion using bfe+fmul
+                 * instructions.
+                 */
+                return MALI_R32UI;
 
         case PIPE_FORMAT_Z32_FLOAT_S8X24_UINT:
                 /* Z32F = R32F to the hardware */