diff --git a/platformio/commands/debug/client.py b/platformio/commands/debug/client.py
index a7ed9b2b..9b208a48 100644
--- a/platformio/commands/debug/client.py
+++ b/platformio/commands/debug/client.py
@@ -119,6 +119,8 @@ class GDBClient(BaseProcess):  # pylint: disable=too-many-instance-attributes
             cfg = initcfgs.GDB_STUTIL_INIT_CONFIG
         elif "mspdebug" in server_exe:
             cfg = initcfgs.GDB_MSPDEBUG_INIT_CONFIG
+        elif "qemu" in server_exe:
+            cfg = initcfgs.GDB_QEMU_INIT_CONFIG
         elif self.debug_options['require_debug_port']:
             cfg = initcfgs.GDB_BLACKMAGIC_INIT_CONFIG
         else:
diff --git a/platformio/commands/debug/initcfgs.py b/platformio/commands/debug/initcfgs.py
index 658418ae..a9d71d32 100644
--- a/platformio/commands/debug/initcfgs.py
+++ b/platformio/commands/debug/initcfgs.py
@@ -107,3 +107,18 @@ monitor erase
 $LOAD_CMDS
 pio_reset_halt_target
 """
+
+GDB_QEMU_INIT_CONFIG = """
+define pio_reset_halt_target
+    monitor system_reset
+end
+
+define pio_reset_target
+    pio_reset_halt_target
+end
+
+target extended-remote $DEBUG_PORT
+$INIT_BREAK
+$LOAD_CMDS
+pio_reset_halt_target
+"""