Fallback procedures for user equipments (UEs) are described that provide efficient fallback to a four-step random access procedure from a two-step random access procedure. For example, after transmitting a first message of a two-step random access procedure, a UE may start a fallback timer or counter and monitor for a second message of the two-step random access procedure for the duration of the fallback timer or counter. At the expiration of the fallback timer or counter, the UE may fall back to a four-step random access procedure. In some cases, the UE may transmit multiple repetitions of the first message and monitor for responses after transmitting the repetitions or after each repetition. Additionally, or alternatively, the base station may transmit an explicit signal to the UE that may signal to the UE to perform a fallback procedure at a beginning or middle of a random access procedure.