diff --git a/library/rtsp/src/main/java/com/google/android/exoplayer2/source/rtsp/RtspMediaTrack.java b/library/rtsp/src/main/java/com/google/android/exoplayer2/source/rtsp/RtspMediaTrack.java
index 4217244c2d..c30adfe2a3 100644
--- a/library/rtsp/src/main/java/com/google/android/exoplayer2/source/rtsp/RtspMediaTrack.java
+++ b/library/rtsp/src/main/java/com/google/android/exoplayer2/source/rtsp/RtspMediaTrack.java
@@ -31,6 +31,7 @@ import androidx.annotation.VisibleForTesting;
 import com.google.android.exoplayer2.C;
 import com.google.android.exoplayer2.Format;
 import com.google.android.exoplayer2.audio.AacUtil;
+import com.google.android.exoplayer2.util.CodecSpecificDataUtil;
 import com.google.android.exoplayer2.util.MimeTypes;
 import com.google.android.exoplayer2.util.NalUnitUtil;
 import com.google.android.exoplayer2.util.Util;
@@ -171,10 +172,6 @@ import com.google.common.collect.ImmutableMap;
 
   private static void processH264FmtpAttribute(
       Format.Builder formatBuilder, ImmutableMap<String, String> fmtpAttributes) {
-    checkArgument(fmtpAttributes.containsKey(PARAMETER_PROFILE_LEVEL_ID));
-    String profileLevel = checkNotNull(fmtpAttributes.get(PARAMETER_PROFILE_LEVEL_ID));
-    formatBuilder.setCodecs(H264_CODECS_PREFIX + profileLevel);
-
     checkArgument(fmtpAttributes.containsKey(PARAMETER_SPROP_PARAMS));
     String spropParameterSets = checkNotNull(fmtpAttributes.get(PARAMETER_SPROP_PARAMS));
     String[] parameterSets = Util.split(spropParameterSets, ",");
@@ -193,6 +190,15 @@ import com.google.common.collect.ImmutableMap;
     formatBuilder.setPixelWidthHeightRatio(spsData.pixelWidthAspectRatio);
     formatBuilder.setHeight(spsData.height);
     formatBuilder.setWidth(spsData.width);
+
+    @Nullable String profileLevel = fmtpAttributes.get(PARAMETER_PROFILE_LEVEL_ID);
+    if (profileLevel != null) {
+      formatBuilder.setCodecs(H264_CODECS_PREFIX + profileLevel);
+    } else {
+      formatBuilder.setCodecs(
+          CodecSpecificDataUtil.buildAvcCodecString(
+              spsData.profileIdc, spsData.constraintsFlagsAndReservedZero2Bits, spsData.levelIdc));
+    }
   }
 
   private static byte[] getH264InitializationDataFromParameterSet(String parameterSet) {
diff --git a/library/rtsp/src/test/java/com/google/android/exoplayer2/source/rtsp/RtspMediaTrackTest.java b/library/rtsp/src/test/java/com/google/android/exoplayer2/source/rtsp/RtspMediaTrackTest.java
index 2afde70997..1b176fd292 100644
--- a/library/rtsp/src/test/java/com/google/android/exoplayer2/source/rtsp/RtspMediaTrackTest.java
+++ b/library/rtsp/src/test/java/com/google/android/exoplayer2/source/rtsp/RtspMediaTrackTest.java
@@ -176,6 +176,23 @@ public class RtspMediaTrackTest {
     assertThat(format).isEqualTo(expectedFormat);
   }
 
+  @Test
+  public void
+      generatePayloadFormat_withH264MediaDescriptionMissingProfileLevel_generatesCorrectProfileLevel() {
+    MediaDescription mediaDescription =
+        new MediaDescription.Builder(MEDIA_TYPE_VIDEO, 0, RTP_AVP_PROFILE, 96)
+            .setConnection("IN IP4 0.0.0.0")
+            .setBitrate(500_000)
+            .addAttribute(ATTR_RTPMAP, "96 H264/90000")
+            .addAttribute(
+                ATTR_FMTP,
+                "96 packetization-mode=1;sprop-parameter-sets=Z2QAH6zZQPARabIAAAMACAAAAwGcHjBjLA==,aOvjyyLA")
+            .addAttribute(ATTR_CONTROL, "track1")
+            .build();
+    RtpPayloadFormat rtpPayloadFormat = RtspMediaTrack.generatePayloadFormat(mediaDescription);
+    assertThat(rtpPayloadFormat.format.codecs).isEqualTo("avc1.64001F");
+  }
+
   @Test
   public void
       generatePayloadFormat_withAacMediaDescriptionMissingFmtpAttribute_throwsIllegalArgumentException() {
@@ -224,24 +241,6 @@ public class RtspMediaTrackTest {
         () -> RtspMediaTrack.generatePayloadFormat(mediaDescription));
   }
 
-  @Test
-  public void
-      generatePayloadFormat_withH264MediaDescriptionMissingProfileLevel_throwsIllegalArgumentException() {
-    MediaDescription mediaDescription =
-        new MediaDescription.Builder(MEDIA_TYPE_VIDEO, 0, RTP_AVP_PROFILE, 96)
-            .setConnection("IN IP4 0.0.0.0")
-            .setBitrate(500_000)
-            .addAttribute(ATTR_RTPMAP, "96 H264/90000")
-            .addAttribute(
-                ATTR_FMTP,
-                "96 packetization-mode=1;sprop-parameter-sets=Z2QAH6zZQPARabIAAAMACAAAAwGcHjBjLA==,aOvjyyLA")
-            .addAttribute(ATTR_CONTROL, "track1")
-            .build();
-    assertThrows(
-        IllegalArgumentException.class,
-        () -> RtspMediaTrack.generatePayloadFormat(mediaDescription));
-  }
-
   @Test
   public void
       generatePayloadFormat_withH264MediaDescriptionMissingSpropParameter_throwsIllegalArgumentException() {