diff --git a/pygmt/src/basemap.py b/pygmt/src/basemap.py
index 7ad52d32cb0..30927ffea78 100644
--- a/pygmt/src/basemap.py
+++ b/pygmt/src/basemap.py
@@ -3,7 +3,6 @@
 """
 
 from pygmt.clib import Session
-from pygmt.exceptions import GMTInvalidInput
 from pygmt.helpers import (
     args_in_kwargs,
     build_arg_string,
@@ -43,9 +42,6 @@ def basemap(self, **kwargs):
     tick-mark intervals for boundary annotation, ticking, and [optionally]
     gridlines. A simple map scale or directional rose may also be plotted.
 
-    At least one of the parameters ``frame``, ``map_scale``, ``rose`` or
-    ``compass`` must be specified.
-
     Full option list at :gmt-docs:`basemap.html`
 
     {aliases}
@@ -96,8 +92,6 @@ def basemap(self, **kwargs):
     """
     kwargs = self._preprocess(**kwargs)  # pylint: disable=protected-access
     if not args_in_kwargs(args=["B", "L", "Td", "Tm", "c"], kwargs=kwargs):
-        raise GMTInvalidInput(
-            "At least one of frame, map_scale, compass, rose, or panel must be specified."
-        )
+        kwargs["B"] = True  # Plotting frames if required arguments not given
     with Session() as lib:
         lib.call_module("basemap", build_arg_string(kwargs))
diff --git a/pygmt/tests/baseline/test_basemap_required_args.png.dvc b/pygmt/tests/baseline/test_basemap_required_args.png.dvc
new file mode 100644
index 00000000000..1361a4b0138
--- /dev/null
+++ b/pygmt/tests/baseline/test_basemap_required_args.png.dvc
@@ -0,0 +1,4 @@
+outs:
+- md5: 36f8200a27d23e19951c2a3823a28faa
+  size: 6163
+  path: test_basemap_required_args.png
diff --git a/pygmt/tests/test_basemap.py b/pygmt/tests/test_basemap.py
index 7c05e84973a..66804889a50 100644
--- a/pygmt/tests/test_basemap.py
+++ b/pygmt/tests/test_basemap.py
@@ -3,16 +3,16 @@
 """
 import pytest
 from pygmt import Figure
-from pygmt.exceptions import GMTInvalidInput
 
 
+@pytest.mark.mpl_image_compare
 def test_basemap_required_args():
     """
-    Figure.basemap fails when not given required arguments.
+    Automatically set `frame=True` when required arguments are not given.
     """
     fig = Figure()
-    with pytest.raises(GMTInvalidInput):
-        fig.basemap(region=[10, 70, -3, 8], projection="X8c/6c")
+    fig.basemap(region=[10, 70, -3, 8], projection="X8c/6c")
+    return fig
 
 
 @pytest.mark.mpl_image_compare