diff --git a/Marlin/src/HAL/HAL_STM32F1/HAL.h b/Marlin/src/HAL/HAL_STM32F1/HAL.h
index dcb9b260e0..81d08d5278 100644
--- a/Marlin/src/HAL/HAL_STM32F1/HAL.h
+++ b/Marlin/src/HAL/HAL_STM32F1/HAL.h
@@ -249,6 +249,7 @@ void HAL_enable_AdcFreerun(void);
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-#define JTAG_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_NONE)
+#define JTAG_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY)
+#define JTAGSWD_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_NONE)
 
 #endif // _HAL_STM32F1_H
diff --git a/Marlin/src/HAL/HAL_STM32F4/HAL.h b/Marlin/src/HAL/HAL_STM32F4/HAL.h
index 6d51f6e776..20d9e05999 100644
--- a/Marlin/src/HAL/HAL_STM32F4/HAL.h
+++ b/Marlin/src/HAL/HAL_STM32F4/HAL.h
@@ -248,6 +248,7 @@ void HAL_enable_AdcFreerun(void);
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-#define JTAG_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_NONE)
+#define JTAG_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY)
+#define JTAGSWD_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_NONE)
 
 #endif // _HAL_STM32F4_H
diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index 6d787fac48..4bb1a1fb92 100644
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@@ -686,7 +686,16 @@ void setup() {
     max7219.init();
   #endif
 
-  #if ENABLED(DISABLE_JTAG)
+  #if ENABLED(DISABLE_DEBUG)
+    // Disable any hardware debug to free up pins for IO
+    #ifdef JTAGSWD_DISABLE
+      JTAGSWD_DISABLE();
+    #elif defined(JTAG_DISABLE)
+      JTAG_DISABLE();
+    #else
+      #error "DISABLE_DEBUG is not supported for the selected MCU/Board"
+    #endif
+  #elif ENABLED(DISABLE_JTAG)
     // Disable JTAG to free up pins for IO
     #ifdef JTAG_DISABLE
       JTAG_DISABLE();