diff --git a/homeassistant/components/zwave_js/discovery.py b/homeassistant/components/zwave_js/discovery.py
index 7ef8138b8a3e90..cacb987e120283 100644
--- a/homeassistant/components/zwave_js/discovery.py
+++ b/homeassistant/components/zwave_js/discovery.py
@@ -1282,19 +1282,19 @@ def async_discover_single_value(
             continue
 
         # check firmware_version_range
-        if schema.firmware_version_range is not None and (
-            (
+        if schema.firmware_version_range is not None:
+            # skip schema if device firmware version is unknown
+            if value.node.firmware_version is None:
+                continue
+            node_firmware = AwesomeVersion(value.node.firmware_version)
+            if (
                 schema.firmware_version_range.min is not None
-                and schema.firmware_version_range.min_ver
-                > AwesomeVersion(value.node.firmware_version)
-            )
-            or (
+                and schema.firmware_version_range.min_ver > node_firmware
+            ) or (
                 schema.firmware_version_range.max is not None
-                and schema.firmware_version_range.max_ver
-                < AwesomeVersion(value.node.firmware_version)
-            )
-        ):
-            continue
+                and schema.firmware_version_range.max_ver < node_firmware
+            ):
+                continue
 
         # check device_class_generic
         # If the value has an endpoint but it is missing on the node
diff --git a/tests/components/zwave_js/conftest.py b/tests/components/zwave_js/conftest.py
index 084c965e38ad6d..39cd50021d164d 100644
--- a/tests/components/zwave_js/conftest.py
+++ b/tests/components/zwave_js/conftest.py
@@ -1513,3 +1513,15 @@ def fibaro_fgms001_v2_8_fixture(
     node = Node(client, fibaro_fgms001_v2_8_state)
     client.driver.controller.nodes[node.node_id] = node
     return node
+
+
+@pytest.fixture(name="fibaro_fgms001_unknown_firmware")
+def fibaro_fgms001_unknown_firmware_fixture(
+    client: MagicMock, fibaro_fgms001_v2_8_state: NodeDataType
+) -> Node:
+    """Load FGMS001 node with no reported firmware version."""
+    state = copy.deepcopy(fibaro_fgms001_v2_8_state)
+    state.pop("firmwareVersion", None)
+    node = Node(client, state)
+    client.driver.controller.nodes[node.node_id] = node
+    return node
diff --git a/tests/components/zwave_js/test_discovery.py b/tests/components/zwave_js/test_discovery.py
index f5ec08d569401e..e08b14760182df 100644
--- a/tests/components/zwave_js/test_discovery.py
+++ b/tests/components/zwave_js/test_discovery.py
@@ -33,7 +33,7 @@
     DynamicCurrentTempClimateDataTemplate,
 )
 from homeassistant.components.zwave_js.helpers import get_device_id
-from homeassistant.config_entries import RELOAD_AFTER_UPDATE_DELAY
+from homeassistant.config_entries import RELOAD_AFTER_UPDATE_DELAY, ConfigEntryState
 from homeassistant.const import (
     ATTR_DEVICE_CLASS,
     ATTR_ENTITY_ID,
@@ -666,6 +666,40 @@ async def test_nabu_casa_zwa2_legacy(
     )
 
 
+@pytest.mark.parametrize("platforms", [[Platform.BINARY_SENSOR, Platform.LIGHT]])
+async def test_fibaro_fgms001_unknown_firmware_setup(
+    hass: HomeAssistant,
+    entity_registry: er.EntityRegistry,
+    device_registry: dr.DeviceRegistry,
+    client: MagicMock,
+    fibaro_fgms001_unknown_firmware: Node,
+    integration: MockConfigEntry,
+) -> None:
+    """Test setup completes when an FGMS001 node has no firmware version.
+
+    Regression test for a crash where comparing AwesomeVersion(None) to a
+    schema's firmware_version_range raised AwesomeVersionCompareException
+    and aborted setup of the whole config entry.
+    """
+    assert integration.state is ConfigEntryState.LOADED
+
+    device = device_registry.async_get_device(
+        identifiers={get_device_id(client.driver, fibaro_fgms001_unknown_firmware)}
+    )
+    assert device is not None
+
+    entries = er.async_entries_for_device(
+        entity_registry, device.id, include_disabled_entities=True
+    )
+    motion_entries = [
+        entry
+        for entry in entries
+        if entry.domain == BINARY_SENSOR_DOMAIN
+        and entry.original_device_class == BinarySensorDeviceClass.MOTION
+    ]
+    assert motion_entries == []
+
+
 @pytest.mark.parametrize("platforms", [[Platform.BINARY_SENSOR, Platform.LIGHT]])
 async def test_fibaro_fgms001_v2_8_motion_discovery(
     hass: HomeAssistant,