diff --git a/packages/tabsheet/src/vaadin-tabsheet-mixin.js b/packages/tabsheet/src/vaadin-tabsheet-mixin.js
index b9160e2d9b..f3d31f90fd 100644
--- a/packages/tabsheet/src/vaadin-tabsheet-mixin.js
+++ b/packages/tabsheet/src/vaadin-tabsheet-mixin.js
@@ -18,11 +18,29 @@ class TabsSlotController extends SlotController {
     super(host, 'tabs');
     this.__tabsItemsChangedListener = this.__tabsItemsChangedListener.bind(this);
     this.__tabsSelectedChangedListener = this.__tabsSelectedChangedListener.bind(this);
+    this.__tabIdObserver = new MutationObserver((mutations) => {
+      mutations.forEach((mutation) => {
+        const tab = mutation.target;
+
+        host.__linkTabAndPanel(tab);
+
+        if (tab.selected) {
+          host.__togglePanels(tab);
+        }
+      });
+    });
   }
 
   /** @private */
   __tabsItemsChangedListener() {
-    this.host._setItems(this.tabs.items);
+    this.__tabIdObserver.disconnect();
+    const items = this.tabs.items || [];
+    items.forEach((tab) => {
+      this.__tabIdObserver.observe(tab, {
+        attributeFilter: ['id'],
+      });
+    });
+    this.host._setItems(items);
   }
 
   /** @private */
@@ -142,15 +160,7 @@ export const TabSheetMixin = (superClass) =>
         return;
       }
       items.forEach((tabItem) => {
-        const panel = panels.find((panel) => panel.getAttribute('tab') === tabItem.id);
-        if (panel) {
-          panel.role = 'tabpanel';
-          if (!panel.id) {
-            panel.id = `tabsheet-panel-${generateUniqueId()}`;
-          }
-          panel.setAttribute('aria-labelledby', tabItem.id);
-          tabItem.setAttribute('aria-controls', panel.id);
-        }
+        this.__linkTabAndPanel(tabItem, panels);
       });
     }
 
@@ -162,10 +172,14 @@ export const TabSheetMixin = (superClass) =>
       if (!items || !panels || selected === undefined) {
         return;
       }
-      const content = this.shadowRoot.querySelector('[part="content"]');
-      const selectedTab = items[selected];
+      this.__togglePanels(items[selected], panels);
+    }
+
+    /** @private */
+    __togglePanels(selectedTab, panels = this.__panels) {
       const selectedTabId = selectedTab ? selectedTab.id : '';
       const selectedPanel = panels.find((panel) => panel.getAttribute('tab') === selectedTabId);
+      const content = this.shadowRoot.querySelector('[part="content"]');
 
       // Mark loading state if a selected panel is not found.
       this.toggleAttribute('loading', !selectedPanel);
@@ -183,4 +197,17 @@ export const TabSheetMixin = (superClass) =>
         panel.hidden = panel !== selectedPanel;
       });
     }
+
+    /** @private */
+    __linkTabAndPanel(tab, panels = this.__panels) {
+      const panel = panels.find((panel) => panel.getAttribute('tab') === tab.id);
+      if (panel) {
+        panel.role = 'tabpanel';
+        if (!panel.id) {
+          panel.id = `tabsheet-panel-${generateUniqueId()}`;
+        }
+        panel.setAttribute('aria-labelledby', tab.id);
+        tab.setAttribute('aria-controls', panel.id);
+      }
+    }
   };
diff --git a/packages/tabsheet/test/tabsheet.test.js b/packages/tabsheet/test/tabsheet.test.js
index 9a264201de..a5bb81b69e 100644
--- a/packages/tabsheet/test/tabsheet.test.js
+++ b/packages/tabsheet/test/tabsheet.test.js
@@ -353,3 +353,89 @@ describe('tabsheet - lazy tabs', () => {
     expect(getPanels()[2].hidden).to.be.true;
   });
 });
+
+describe('tabsheet - tabs without ID', () => {
+  let tabsheet, tabs;
+
+  function getPanels() {
+    return [...tabsheet.querySelectorAll(`[tab]`)];
+  }
+
+  beforeEach(async () => {
+    tabsheet = fixtureSync(`
+      <vaadin-tabsheet>
+        <vaadin-tabs slot="tabs">
+          <vaadin-tab>Tab 1</vaadin-tab>
+          <vaadin-tab>Tab 2</vaadin-tab>
+        </vaadin-tabs>
+
+        <div tab="tab-1">Panel 1</div>
+        <div tab="tab-2">Panel 2</div>
+      </vaadin-tabsheet>
+    `);
+
+    await nextFrame();
+    tabs = tabsheet.querySelector('vaadin-tabs');
+  });
+
+  it('should be in loading state until ID is set on the tab', () => {
+    expect(tabsheet.hasAttribute('loading')).to.be.true;
+  });
+
+  it('should not be in loading state after setting ID on the tab', async () => {
+    tabs.items[0].id = 'tab-1';
+    await nextFrame();
+    expect(tabsheet.hasAttribute('loading')).to.be.false;
+  });
+
+  it('should restore loading state after removing ID from the tab', async () => {
+    tabs.items[0].id = 'tab-1';
+    await nextFrame();
+
+    tabs.items[0].id = null;
+    await nextFrame();
+    expect(tabsheet.hasAttribute('loading')).to.be.true;
+  });
+
+  it('should have all panels hidden until ID is set on the tab', () => {
+    expect(getPanels()[0].hidden).to.be.true;
+    expect(getPanels()[1].hidden).to.be.true;
+  });
+
+  it('should have matching panel visible after setting ID on the selected tab', async () => {
+    tabs.items[0].id = 'tab-1';
+    await nextFrame();
+    expect(getPanels()[0].hidden).to.be.false;
+    expect(getPanels()[1].hidden).to.be.true;
+  });
+
+  it('should not have matching panel visible after setting ID on the not selected tab', async () => {
+    tabs.items[1].id = 'tab-2';
+    await nextFrame();
+    expect(getPanels()[0].hidden).to.be.true;
+    expect(getPanels()[1].hidden).to.be.true;
+  });
+
+  it('should not have matching panel visible after setting ID on the detached tab', async () => {
+    // Move selected tab out of the `vaadin-tabs`
+    const tab = tabs.items[0];
+    tabsheet.parentNode.appendChild(tab);
+    await nextFrame();
+    tab.id = 'tab-1';
+    await nextFrame();
+    expect(getPanels()[0].hidden).to.be.true;
+    expect(getPanels()[1].hidden).to.be.true;
+  });
+
+  it('should link tab with panel after setting ID regardless of tab selected state', async () => {
+    tabs.items[0].id = 'tab-1';
+    await nextFrame();
+    expect(tabs.items[0].getAttribute('aria-controls')).to.equal(getPanels()[0].id);
+    expect(getPanels()[0].getAttribute('aria-labelledby')).to.equal('tab-1');
+
+    tabs.items[1].id = 'tab-2';
+    await nextFrame();
+    expect(tabs.items[1].getAttribute('aria-controls')).to.equal(getPanels()[1].id);
+    expect(getPanels()[1].getAttribute('aria-labelledby')).to.equal('tab-2');
+  });
+});