Routing raw debug data using trace infrastructure in processor-based devices is disclosed. In some aspects, a processor-based device comprises a trace interconnect bus, a subsystem circuit comprising a debug transmit circuit, and an input/output (I/O) endpoint circuit. The debug transmit circuit is configured to receive raw debug data from the subsystem circuit, and generate a debug trace packet comprising the raw debug data in lieu of formatted trace data. The debug transmit circuit is also configured to transmit the debug trace packet comprising the raw debug data to the I/O endpoint circuit via the trace interconnect bus during a period of trace interconnect bus inactivity. In this manner, an existing trace infrastructure can be employed to transmit raw debug data without incurring expense in terms of overhead and monetary cost due to the need for industry-standard, infrastructure-compliant tools to decode conventionally packetized trace data for analysis.