diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index b74c70411b..7e24935720 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -25,6 +25,9 @@ removed when training with a player. The Editor still requires it to be clamped
   Changed the namespace and file names of classes in com.unity.ml-agents.extensions. (#4849)
 
 #### ml-agents / ml-agents-envs / gym-unity (Python)
+- Added a `--torch-device` commandline option to `mlagents-learn`, which sets the default
+  [`torch.device`](https://pytorch.org/docs/stable/tensor_attributes.html#torch.torch.device) used for training. (#4888)
+- The `--cpu` commandline option had no effect and was removed. Use `--torch-device=cpu` to force CPU training. (#4888)
 
 ### Bug Fixes
 #### com.unity.ml-agents (C#)
diff --git a/docs/Training-ML-Agents.md b/docs/Training-ML-Agents.md
index 7919c3deda..c6811d7fd7 100644
--- a/docs/Training-ML-Agents.md
+++ b/docs/Training-ML-Agents.md
@@ -188,7 +188,8 @@ using the help utility:
 mlagents-learn --help
 ```
 
-These additional CLI arguments are grouped into environment, engine and checkpoint. The available settings and example values are shown below.
+These additional CLI arguments are grouped into environment, engine, checkpoint and torch.
+The available settings and example values are shown below.
 
 #### Environment settings
 
@@ -227,6 +228,13 @@ checkpoint_settings:
   inference: false
 ```
 
+#### Torch settings:
+
+```yaml
+torch_settings:
+  device: cpu
+```
+
 ### Behavior Configurations
 
 The primary section of the trainer config file is a
diff --git a/ml-agents/mlagents/torch_utils/__init__.py b/ml-agents/mlagents/torch_utils/__init__.py
index 9ba35a3500..0acc96997d 100644
--- a/ml-agents/mlagents/torch_utils/__init__.py
+++ b/ml-agents/mlagents/torch_utils/__init__.py
@@ -1,3 +1,4 @@
 from mlagents.torch_utils.torch import torch as torch  # noqa
 from mlagents.torch_utils.torch import nn  # noqa
+from mlagents.torch_utils.torch import set_torch_config  # noqa
 from mlagents.torch_utils.torch import default_device  # noqa
diff --git a/ml-agents/mlagents/torch_utils/torch.py b/ml-agents/mlagents/torch_utils/torch.py
index a3cb67ddf5..ddccd7a179 100644
--- a/ml-agents/mlagents/torch_utils/torch.py
+++ b/ml-agents/mlagents/torch_utils/torch.py
@@ -3,6 +3,11 @@
 from distutils.version import LooseVersion
 import pkg_resources
 from mlagents.torch_utils import cpu_utils
+from mlagents.trainers.settings import TorchSettings
+from mlagents_envs.logging_util import get_logger
+
+
+logger = get_logger(__name__)
 
 
 def assert_torch_installed():
@@ -32,14 +37,32 @@ def assert_torch_installed():
 torch.set_num_threads(cpu_utils.get_num_threads_to_use())
 os.environ["KMP_BLOCKTIME"] = "0"
 
-if torch.cuda.is_available():
-    torch.set_default_tensor_type(torch.cuda.FloatTensor)
-    device = torch.device("cuda")
-else:
-    torch.set_default_tensor_type(torch.FloatTensor)
-    device = torch.device("cpu")
+
+_device = torch.device("cpu")
+
+
+def set_torch_config(torch_settings: TorchSettings) -> None:
+    global _device
+
+    if torch_settings.device is None:
+        device_str = "cuda" if torch.cuda.is_available() else "cpu"
+    else:
+        device_str = torch_settings.device
+
+    _device = torch.device(device_str)
+
+    if _device.type == "cuda":
+        torch.set_default_tensor_type(torch.cuda.FloatTensor)
+    else:
+        torch.set_default_tensor_type(torch.FloatTensor)
+    logger.info(f"default Torch device: {_device}")
+
+
+# Initialize to default settings
+set_torch_config(TorchSettings(device=None))
+
 nn = torch.nn
 
 
 def default_device():
-    return device
+    return _device
diff --git a/ml-agents/mlagents/trainers/cli_utils.py b/ml-agents/mlagents/trainers/cli_utils.py
index 5cc9d7c292..6849731600 100644
--- a/ml-agents/mlagents/trainers/cli_utils.py
+++ b/ml-agents/mlagents/trainers/cli_utils.py
@@ -177,12 +177,6 @@ def _create_parser() -> argparse.ArgumentParser:
         "passed to the executable.",
         action=DetectDefault,
     )
-    argparser.add_argument(
-        "--cpu",
-        default=False,
-        action=DetectDefaultStoreTrue,
-        help="Forces training using CPU only",
-    )
     argparser.add_argument(
         "--torch",
         default=False,
@@ -252,6 +246,15 @@ def _create_parser() -> argparse.ArgumentParser:
         help="Whether to run the Unity executable in no-graphics mode (i.e. without initializing "
         "the graphics driver. Use this only if your agents don't use visual observations.",
     )
+
+    torch_conf = argparser.add_argument_group(title="Torch Configuration")
+    torch_conf.add_argument(
+        "--torch-device",
+        default=None,
+        dest="device",
+        action=DetectDefault,
+        help='Settings for the default torch.device used in training, for example, "cpu", "cuda", or "cuda:0"',
+    )
     return argparser
 
 
diff --git a/ml-agents/mlagents/trainers/learn.py b/ml-agents/mlagents/trainers/learn.py
index 82b65f59b4..bdedba2d20 100644
--- a/ml-agents/mlagents/trainers/learn.py
+++ b/ml-agents/mlagents/trainers/learn.py
@@ -62,6 +62,7 @@ def run_training(run_seed: int, options: RunOptions) -> None:
     :param run_options: Command line arguments for training.
     """
     with hierarchical_timer("run_training.setup"):
+        torch_utils.set_torch_config(options.torch_settings)
         checkpoint_settings = options.checkpoint_settings
         env_settings = options.env_settings
         engine_settings = options.engine_settings
diff --git a/ml-agents/mlagents/trainers/settings.py b/ml-agents/mlagents/trainers/settings.py
index 9f47bd567b..02865c96f3 100644
--- a/ml-agents/mlagents/trainers/settings.py
+++ b/ml-agents/mlagents/trainers/settings.py
@@ -733,6 +733,11 @@ class EngineSettings:
     no_graphics: bool = parser.get_default("no_graphics")
 
 
+@attr.s(auto_attribs=True)
+class TorchSettings:
+    device: Optional[str] = parser.get_default("torch_device")
+
+
 @attr.s(auto_attribs=True)
 class RunOptions(ExportableSettings):
     default_settings: Optional[TrainerSettings] = None
@@ -743,6 +748,7 @@ class RunOptions(ExportableSettings):
     engine_settings: EngineSettings = attr.ib(factory=EngineSettings)
     environment_parameters: Optional[Dict[str, EnvironmentParameterSettings]] = None
     checkpoint_settings: CheckpointSettings = attr.ib(factory=CheckpointSettings)
+    torch_settings: TorchSettings = attr.ib(factory=TorchSettings)
 
     # These are options that are relevant to the run itself, and not the engine or environment.
     # They will be left here.
@@ -784,6 +790,7 @@ def from_argparse(args: argparse.Namespace) -> "RunOptions":
             "checkpoint_settings": {},
             "env_settings": {},
             "engine_settings": {},
+            "torch_settings": {},
         }
         if config_path is not None:
             configured_dict.update(load_config(config_path))
@@ -808,6 +815,8 @@ def from_argparse(args: argparse.Namespace) -> "RunOptions":
                     configured_dict["env_settings"][key] = val
                 elif key in attr.fields_dict(EngineSettings):
                     configured_dict["engine_settings"][key] = val
+                elif key in attr.fields_dict(TorchSettings):
+                    configured_dict["torch_settings"][key] = val
                 else:  # Base options
                     configured_dict[key] = val
 
diff --git a/ml-agents/mlagents/trainers/tests/test_torch_utils.py b/ml-agents/mlagents/trainers/tests/test_torch_utils.py
new file mode 100644
index 0000000000..7146831319
--- /dev/null
+++ b/ml-agents/mlagents/trainers/tests/test_torch_utils.py
@@ -0,0 +1,41 @@
+import pytest
+from unittest import mock
+
+import torch  # noqa I201
+
+from mlagents.torch_utils import set_torch_config, default_device
+from mlagents.trainers.settings import TorchSettings
+
+
+@pytest.mark.parametrize(
+    "device_str, expected_type, expected_index, expected_tensor_type",
+    [
+        ("cpu", "cpu", None, torch.FloatTensor),
+        ("cuda", "cuda", None, torch.cuda.FloatTensor),
+        ("cuda:42", "cuda", 42, torch.cuda.FloatTensor),
+        ("opengl", "opengl", None, torch.FloatTensor),
+    ],
+)
+@mock.patch.object(torch, "set_default_tensor_type")
+def test_set_torch_device(
+    mock_set_default_tensor_type,
+    device_str,
+    expected_type,
+    expected_index,
+    expected_tensor_type,
+):
+    try:
+        torch_settings = TorchSettings(device=device_str)
+        set_torch_config(torch_settings)
+        assert default_device().type == expected_type
+        if expected_index is None:
+            assert default_device().index is None
+        else:
+            assert default_device().index == expected_index
+        mock_set_default_tensor_type.assert_called_once_with(expected_tensor_type)
+    except Exception:
+        raise
+    finally:
+        # restore the defaults
+        torch_settings = TorchSettings(device=None)
+        set_torch_config(torch_settings)