diff --git a/src/aiortc/rtcpeerconnection.py b/src/aiortc/rtcpeerconnection.py
index 17e06cb0a..22ced5543 100644
--- a/src/aiortc/rtcpeerconnection.py
+++ b/src/aiortc/rtcpeerconnection.py
@@ -928,6 +928,8 @@ async def setRemoteDescription(
                     iceTransport._role_set = True
 
                 # set DTLS role
+                if description.type == "offer" and media.dtls.role == "client":
+                    dtlsTransport._set_role(role="server")
                 if description.type == "answer":
                     dtlsTransport._set_role(
                         role="server" if media.dtls.role == "client" else "client"
@@ -1272,9 +1274,6 @@ def __validate_description(
             if not media.ice.usernameFragment or not media.ice.password:
                 raise ValueError("ICE username fragment or password is missing")
 
-            # check DTLS role is allowed
-            if description.type == "offer" and media.dtls.role != "auto":
-                raise ValueError("DTLS setup attribute must be 'actpass' for an offer")
             if description.type in ["answer", "pranswer"] and media.dtls.role not in [
                 "client",
                 "server",
diff --git a/tests/test_rtcpeerconnection.py b/tests/test_rtcpeerconnection.py
index ba51b4af1..3f5a2d33d 100644
--- a/tests/test_rtcpeerconnection.py
+++ b/tests/test_rtcpeerconnection.py
@@ -4685,30 +4685,6 @@ async def test_setRemoteDescription_media_mismatch(self):
         await pc1.close()
         await pc2.close()
 
-    @asynctest
-    async def test_setRemoteDescription_with_invalid_dtls_setup_for_offer(self):
-        pc1 = RTCPeerConnection()
-        pc2 = RTCPeerConnection()
-
-        # apply offer
-        pc1.addTrack(AudioStreamTrack())
-        offer = await pc1.createOffer()
-        await pc1.setLocalDescription(offer)
-        mangled = RTCSessionDescription(
-            sdp=pc1.localDescription.sdp.replace("a=setup:actpass", "a=setup:active"),
-            type=pc1.localDescription.type,
-        )
-        with self.assertRaises(ValueError) as cm:
-            await pc2.setRemoteDescription(mangled)
-        self.assertEqual(
-            str(cm.exception),
-            "DTLS setup attribute must be 'actpass' for an offer",
-        )
-
-        # close
-        await pc1.close()
-        await pc2.close()
-
     @asynctest
     async def test_setRemoteDescription_with_invalid_dtls_setup_for_answer(self):
         pc1 = RTCPeerConnection()
@@ -4976,3 +4952,193 @@ async def test_setRemoteDescription_media_datachannel_bundled(self):
                 "closed",
             ],
         )
+
+    @asynctest
+    async def test_dtls_role_offer_actpass(self):
+        pc1 = RTCPeerConnection()
+        pc2 = RTCPeerConnection()
+
+        pc1_states = track_states(pc1)
+        pc2_states = track_states(pc2)
+
+        self.assertEqual(pc1.iceConnectionState, "new")
+        self.assertEqual(pc1.iceGatheringState, "new")
+        self.assertIsNone(pc1.localDescription)
+        self.assertIsNone(pc1.remoteDescription)
+
+        self.assertEqual(pc2.iceConnectionState, "new")
+        self.assertEqual(pc2.iceGatheringState, "new")
+        self.assertIsNone(pc2.localDescription)
+        self.assertIsNone(pc2.remoteDescription)
+
+        # create offer
+        pc1.createDataChannel("chat", protocol="")
+        offer = await pc1.createOffer()
+        self.assertEqual(offer.type, "offer")
+
+        await pc1.setLocalDescription(offer)
+        self.assertEqual(pc1.iceConnectionState, "new")
+        self.assertEqual(pc1.iceGatheringState, "complete")
+
+        # set remote description
+        await pc2.setRemoteDescription(pc1.localDescription)
+
+        # create answer
+        answer = await pc2.createAnswer()
+        self.assertHasDtls(answer, "active")
+
+        await pc2.setLocalDescription(answer)
+        await self.assertIceChecking(pc2)
+
+        # handle answer
+        await pc1.setRemoteDescription(pc2.localDescription)
+        self.assertEqual(pc1.remoteDescription, pc2.localDescription)
+
+        # check outcome
+        await self.assertIceCompleted(pc1, pc2)
+
+        self.assertEqual(pc1.sctp.transport._role, "server")
+        self.assertEqual(pc2.sctp.transport._role, "client")
+        # close
+        await pc1.close()
+        await pc2.close()
+        self.assertClosed(pc1)
+        self.assertClosed(pc2)
+
+        # check state changes
+        self.assertEqual(
+            pc1_states["connectionState"], ["new", "connecting", "connected", "closed"]
+        )
+        self.assertEqual(
+            pc2_states["connectionState"], ["new", "connecting", "connected", "closed"]
+        )
+
+    @asynctest
+    async def test_dtls_role_offer_passive(self):
+        pc1 = RTCPeerConnection()
+        pc2 = RTCPeerConnection()
+
+        pc1_states = track_states(pc1)
+        pc2_states = track_states(pc2)
+
+        self.assertEqual(pc1.iceConnectionState, "new")
+        self.assertEqual(pc1.iceGatheringState, "new")
+        self.assertIsNone(pc1.localDescription)
+        self.assertIsNone(pc1.remoteDescription)
+
+        self.assertEqual(pc2.iceConnectionState, "new")
+        self.assertEqual(pc2.iceGatheringState, "new")
+        self.assertIsNone(pc2.localDescription)
+        self.assertIsNone(pc2.remoteDescription)
+
+        # create offer
+        pc1.createDataChannel("chat", protocol="")
+        offer = await pc1.createOffer()
+        self.assertEqual(offer.type, "offer")
+
+        await pc1.setLocalDescription(offer)
+        self.assertEqual(pc1.iceConnectionState, "new")
+        self.assertEqual(pc1.iceGatheringState, "complete")
+
+        # handle offer with replaced DTLS role
+        await pc2.setRemoteDescription(
+            RTCSessionDescription(
+                type="offer", sdp=pc1.localDescription.sdp.replace("actpass", "passive")
+            )
+        )
+
+        # create answer
+        answer = await pc2.createAnswer()
+        self.assertHasDtls(answer, "active")
+
+        await pc2.setLocalDescription(answer)
+        await self.assertIceChecking(pc2)
+
+        # handle answer
+        await pc1.setRemoteDescription(pc2.localDescription)
+        self.assertEqual(pc1.remoteDescription, pc2.localDescription)
+
+        # check outcome
+        await self.assertIceCompleted(pc1, pc2)
+
+        # pc1 is explicity passive so server.
+        self.assertEqual(pc1.sctp.transport._role, "server")
+        self.assertEqual(pc2.sctp.transport._role, "client")
+        # close
+        await pc1.close()
+        await pc2.close()
+        self.assertClosed(pc1)
+        self.assertClosed(pc2)
+
+        # check state changes
+        self.assertEqual(
+            pc1_states["connectionState"], ["new", "connecting", "connected", "closed"]
+        )
+        self.assertEqual(
+            pc2_states["connectionState"], ["new", "connecting", "connected", "closed"]
+        )
+
+    @asynctest
+    async def test_dtls_role_offer_active(self):
+        pc1 = RTCPeerConnection()
+        pc2 = RTCPeerConnection()
+
+        pc1_states = track_states(pc1)
+        pc2_states = track_states(pc2)
+
+        self.assertEqual(pc1.iceConnectionState, "new")
+        self.assertEqual(pc1.iceGatheringState, "new")
+        self.assertIsNone(pc1.localDescription)
+        self.assertIsNone(pc1.remoteDescription)
+
+        self.assertEqual(pc2.iceConnectionState, "new")
+        self.assertEqual(pc2.iceGatheringState, "new")
+        self.assertIsNone(pc2.localDescription)
+        self.assertIsNone(pc2.remoteDescription)
+
+        # create offer
+        pc1.createDataChannel("chat", protocol="")
+        offer = await pc1.createOffer()
+        self.assertEqual(offer.type, "offer")
+
+        await pc1.setLocalDescription(offer)
+        self.assertEqual(pc1.iceConnectionState, "new")
+        self.assertEqual(pc1.iceGatheringState, "complete")
+
+        # handle offer with replaced DTLS role
+        await pc2.setRemoteDescription(
+            RTCSessionDescription(
+                type="offer", sdp=pc1.localDescription.sdp.replace("actpass", "active")
+            )
+        )
+
+        # create answer
+        answer = await pc2.createAnswer()
+        self.assertHasDtls(answer, "passive")
+
+        await pc2.setLocalDescription(answer)
+        await self.assertIceChecking(pc2)
+
+        # handle answer
+        await pc1.setRemoteDescription(pc2.localDescription)
+        self.assertEqual(pc1.remoteDescription, pc2.localDescription)
+
+        # check outcome
+        await self.assertIceCompleted(pc1, pc2)
+
+        # pc1 is explicity active so client.
+        self.assertEqual(pc1.sctp.transport._role, "client")
+        self.assertEqual(pc2.sctp.transport._role, "server")
+        # close
+        await pc1.close()
+        await pc2.close()
+        self.assertClosed(pc1)
+        self.assertClosed(pc2)
+
+        # check state changes
+        self.assertEqual(
+            pc1_states["connectionState"], ["new", "connecting", "connected", "closed"]
+        )
+        self.assertEqual(
+            pc2_states["connectionState"], ["new", "connecting", "connected", "closed"]
+        )