diff --git a/main.go b/main.go
index 0e36dace..b0da6abd 100644
--- a/main.go
+++ b/main.go
@@ -247,21 +247,21 @@ func newProgram(args []string, stdin io.Reader) (*program, error) {
 		http.DefaultServeMux = http.NewServeMux()
 	}
 
-	p.serverRtp, err = newServerUdp(p, conf.RtpPort, gortsplib.StreamTypeRtp)
-	if err != nil {
-		return nil, err
-	}
-
 	if _, ok := conf.protocolsParsed[gortsplib.StreamProtocolUdp]; ok {
+		p.serverRtp, err = newServerUdp(p, conf.RtpPort, gortsplib.StreamTypeRtp)
+		if err != nil {
+			return nil, err
+		}
+
 		p.serverRtcp, err = newServerUdp(p, conf.RtcpPort, gortsplib.StreamTypeRtcp)
 		if err != nil {
 			return nil, err
 		}
+	}
 
-		p.serverRtsp, err = newServerTcp(p)
-		if err != nil {
-			return nil, err
-		}
+	p.serverRtsp, err = newServerTcp(p)
+	if err != nil {
+		return nil, err
 	}
 
 	for name, confp := range conf.Paths {
@@ -284,12 +284,18 @@ func newProgram(args []string, stdin io.Reader) (*program, error) {
 	if p.metrics != nil {
 		go p.metrics.run()
 	}
-	go p.serverRtp.run()
-	go p.serverRtcp.run()
-	go p.serverRtsp.run()
+
+	if _, ok := conf.protocolsParsed[gortsplib.StreamProtocolUdp]; ok {
+		go p.serverRtp.run()
+		go p.serverRtcp.run()
+	}
+
 	for _, s := range p.sources {
 		go s.run()
 	}
+
+	go p.serverRtsp.run()
+
 	go p.run()
 
 	return p, nil
@@ -541,13 +547,13 @@ outer:
 		cmd.Wait()
 	}
 
+	p.serverRtsp.close()
+
 	for _, s := range p.sources {
 		s.events <- sourceEventTerminate{}
 		<-s.done
 	}
 
-	p.serverRtsp.close()
-
 	if _, ok := p.conf.protocolsParsed[gortsplib.StreamProtocolUdp]; ok {
 		p.serverRtcp.close()
 		p.serverRtp.close()
diff --git a/main_test.go b/main_test.go
index 1da4eeb4..cc2a2799 100644
--- a/main_test.go
+++ b/main_test.go
@@ -213,6 +213,41 @@ func TestRead(t *testing.T) {
 	}
 }
 
+func TestTcpOnly(t *testing.T) {
+	stdin := []byte("\n" +
+		"protocols: [tcp]\n")
+	p, err := newProgram([]string{"stdin"}, bytes.NewBuffer(stdin))
+	require.NoError(t, err)
+	defer p.close()
+
+	time.Sleep(1 * time.Second)
+
+	cnt1, err := newContainer("ffmpeg", "publish", []string{
+		"-re",
+		"-stream_loop", "-1",
+		"-i", "/emptyvideo.ts",
+		"-c", "copy",
+		"-f", "rtsp",
+		"-rtsp_transport", "tcp",
+		"rtsp://" + ownDockerIp + ":8554/teststream",
+	})
+	require.NoError(t, err)
+	defer cnt1.close()
+
+	cnt2, err := newContainer("ffmpeg", "read", []string{
+		"-rtsp_transport", "tcp",
+		"-i", "rtsp://" + ownDockerIp + ":8554/teststream",
+		"-vframes", "1",
+		"-f", "image2",
+		"-y", "/dev/null",
+	})
+	require.NoError(t, err)
+	defer cnt2.close()
+
+	code := cnt2.wait()
+	require.Equal(t, 0, code)
+}
+
 func TestAuth(t *testing.T) {
 	t.Run("publish", func(t *testing.T) {
 		stdin := []byte("\n" +