diff --git a/sdp.go b/sdp.go
index ce0764153e2..0219d85cc3b 100644
--- a/sdp.go
+++ b/sdp.go
@@ -820,10 +820,7 @@ func codecsFromMediaDescription(m *sdp.MediaDescription) (out []RTPCodecParamete
 
 		codec, err := s.GetCodecForPayloadType(uint8(payloadType))
 		if err != nil {
-			if payloadType == 0 {
-				continue
-			}
-			return nil, err
+			continue
 		}
 
 		channels := uint16(0)
@@ -848,6 +845,9 @@ func codecsFromMediaDescription(m *sdp.MediaDescription) (out []RTPCodecParamete
 			PayloadType:        PayloadType(payloadType),
 		})
 	}
+	if out == nil {
+		return nil, fmt.Errorf("no valid codecs found")
+	}
 
 	return out, nil
 }