diff --git a/arch/arm/core/Kconfig b/arch/arm/core/Kconfig
index ac3fe19b98..dd322bff62 100644
--- a/arch/arm/core/Kconfig
+++ b/arch/arm/core/Kconfig
@@ -268,9 +268,6 @@ choice
 
 config FP_HARDABI
 	bool "Floating point Hard ABI"
-	# TF-M build system does not build the NS app and libraries correctly with Hard ABI.
-	# This limitation should be removed in the next TF-M synchronization.
-	depends on !TFM_BUILD_NS
 	help
 	  This option selects the Floating point ABI in which hardware floating
 	  point instructions are generated and uses FPU-specific calling