diff --git a/hw/net/can/xlnx-zynqmp-can.c b/hw/net/can/xlnx-zynqmp-can.c
index e93e6c5e19..1f1c686479 100644
--- a/hw/net/can/xlnx-zynqmp-can.c
+++ b/hw/net/can/xlnx-zynqmp-can.c
@@ -434,6 +434,52 @@ static bool tx_ready_check(XlnxZynqMPCANState *s)
     return true;
 }
 
+static void read_tx_frame(XlnxZynqMPCANState *s, Fifo32 *fifo, uint32_t *data)
+{
+    unsigned used = fifo32_num_used(fifo);
+    bool is_txhpb = fifo == &s->txhpb_fifo;
+
+    assert(used > 0);
+    used %= CAN_FRAME_SIZE;
+
+    /*
+     * Frame Message Format
+     *
+     * Each frame includes four words (16 bytes). Software must read and write
+     * all four words regardless of the actual number of data bytes and valid
+     * fields in the message.
+     * If software misbehave (not writing all four words), we use the previous
+     * registers content to initialize each missing word.
+     *
+     * If used is 1 then ID, DLC and DATA1 are missing.
+     * if used is 2 then ID and DLC are missing.
+     * if used is 3 then only ID is missing.
+     */
+     if (used > 0) {
+        data[0] = s->regs[is_txhpb ? R_TXHPB_ID : R_TXFIFO_ID];
+    } else {
+        data[0] = fifo32_pop(fifo);
+    }
+    if (used == 1 || used == 2) {
+        data[1] = s->regs[is_txhpb ? R_TXHPB_DLC : R_TXFIFO_DLC];
+    } else {
+        data[1] = fifo32_pop(fifo);
+    }
+    if (used == 1) {
+        data[2] = s->regs[is_txhpb ? R_TXHPB_DATA1 : R_TXFIFO_DATA1];
+    } else {
+        data[2] = fifo32_pop(fifo);
+    }
+    /* DATA2 triggered the transfer thus is always available */
+    data[3] = fifo32_pop(fifo);
+
+    if (used) {
+        qemu_log_mask(LOG_GUEST_ERROR,
+                      "%s: Incomplete CAN frame (only %u/%u slots used)\n",
+                      TYPE_XLNX_ZYNQMP_CAN, used, CAN_FRAME_SIZE);
+    }
+}
+
 static void transfer_fifo(XlnxZynqMPCANState *s, Fifo32 *fifo)
 {
     qemu_can_frame frame;
@@ -451,9 +497,7 @@ static void transfer_fifo(XlnxZynqMPCANState *s, Fifo32 *fifo)
     }
 
     while (!fifo32_is_empty(fifo)) {
-        for (i = 0; i < CAN_FRAME_SIZE; i++) {
-            data[i] = fifo32_pop(fifo);
-        }
+        read_tx_frame(s, fifo, data);
 
         if (ARRAY_FIELD_EX32(s->regs, STATUS_REGISTER, LBACK)) {
             /*