diff --git a/ironic/drivers/utils.py b/ironic/drivers/utils.py
index 642bdb33f6..2d9bdcf5a3 100644
--- a/ironic/drivers/utils.py
+++ b/ironic/drivers/utils.py
@@ -501,4 +501,6 @@ def need_prepare_ramdisk(node):
                                     states.RESCUING,
                                     states.RESCUEWAIT,
                                     states.INSPECTING,
-                                    states.INSPECTWAIT)
+                                    states.INSPECTWAIT,
+                                    states.SERVICING,
+                                    states.SERVICEWAIT)
diff --git a/releasenotes/notes/add-servicing-to-need-prepare-ramdisk-fb0634b4f7d851bd.yaml b/releasenotes/notes/add-servicing-to-need-prepare-ramdisk-fb0634b4f7d851bd.yaml
new file mode 100644
index 0000000000..aa2391edfd
--- /dev/null
+++ b/releasenotes/notes/add-servicing-to-need-prepare-ramdisk-fb0634b4f7d851bd.yaml
@@ -0,0 +1,7 @@
+---
+fixes:
+  - |
+    Fixes issue with configuring virtual media boot for executing service
+    steps by adding missing entries for states.SERVICING and states.SERVICEWAIT
+    in the whitelist of the states allowed by this method.
+