diff --git a/python/ray/data/read_api.py b/python/ray/data/read_api.py
index a924de9f4710..6da9f6e1690e 100644
--- a/python/ray/data/read_api.py
+++ b/python/ray/data/read_api.py
@@ -79,7 +79,10 @@
 from ray.data._internal.plan import ExecutionPlan
 from ray.data._internal.remote_fn import cached_remote_fn
 from ray.data._internal.stats import DatasetStats
-from ray.data._internal.tensor_extensions.utils import _create_possibly_ragged_ndarray
+from ray.data._internal.tensor_extensions.utils import (
+    _create_possibly_ragged_ndarray,
+    create_ragged_ndarray,
+)
 from ray.data._internal.util import (
     _autodetect_parallelism,
     get_compute_strategy_for_read_api,
@@ -3835,8 +3838,37 @@ def from_tf(
     Returns:
         A :class:`MaterializedDataset` that contains the samples stored in the `TensorFlow Dataset`_.
     """  # noqa: E501
-    # FIXME: `as_numpy_iterator` errors if `dataset` contains ragged tensors.
-    return from_items(list(dataset.as_numpy_iterator()))
+    import tensorflow as tf
+
+    def _contains_ragged_tensor_spec(spec: Any) -> bool:
+        return any(
+            isinstance(type_spec, tf.RaggedTensorSpec)
+            for type_spec in tf.nest.flatten(spec)
+        )
+
+    def _convert_tf_value(value: Any) -> Any:
+        if isinstance(value, tf.RaggedTensor):
+            return create_ragged_ndarray([_convert_tf_value(v) for v in value])
+        if isinstance(value, tf.SparseTensor):
+            return tf.compat.v1.SparseTensorValue(
+                indices=value.indices.numpy(),
+                values=value.values.numpy(),
+                dense_shape=value.dense_shape.numpy(),
+            )
+        if isinstance(value, tf.Tensor):
+            return value.numpy()
+        if isinstance(value, collections.abc.Mapping):
+            return {key: _convert_tf_value(item) for key, item in value.items()}
+        if isinstance(value, tuple):
+            return tuple(_convert_tf_value(item) for item in value)
+        if isinstance(value, list):
+            return [_convert_tf_value(item) for item in value]
+        return value
+
+    if not _contains_ragged_tensor_spec(dataset.element_spec):
+        return from_items(list(dataset.as_numpy_iterator()))
+
+    return from_items([_convert_tf_value(item) for item in dataset])
 
 
 @PublicAPI
diff --git a/python/ray/data/tests/datasource/test_tensorflow_datasets.py b/python/ray/data/tests/datasource/test_tensorflow_datasets.py
index 5b7f3213c53c..d835da8644ea 100644
--- a/python/ray/data/tests/datasource/test_tensorflow_datasets.py
+++ b/python/ray/data/tests/datasource/test_tensorflow_datasets.py
@@ -1,5 +1,6 @@
 import sys
 
+import numpy as np
 import pytest
 
 import ray
@@ -9,6 +10,20 @@
 from ray.tests.conftest import *  # noqa
 
 
+def _to_nested_lists(value):
+    if isinstance(value, np.ndarray):
+        if value.dtype == object:
+            return [_to_nested_lists(item) for item in value.tolist()]
+        return value.tolist()
+    if isinstance(value, tuple):
+        return tuple(_to_nested_lists(item) for item in value)
+    if isinstance(value, list):
+        return [_to_nested_lists(item) for item in value]
+    if isinstance(value, dict):
+        return {key: _to_nested_lists(item) for key, item in value.items()}
+    return value
+
+
 def test_from_tf_e2e(ray_start_regular_shared_2_cpus):
     import tensorflow as tf
     import tensorflow_datasets as tfds
@@ -34,5 +49,47 @@ def test_from_tf_e2e(ray_start_regular_shared_2_cpus):
     _check_usage_record(["FromItems"])
 
 
+def test_from_tf_ragged_tensor(ray_start_regular_shared_2_cpus):
+    import tensorflow as tf
+
+    tf_dataset = tf.data.Dataset.from_tensors(
+        tf.ragged.constant([[1, 2, 3], [4, 5]])
+    ).concatenate(tf.data.Dataset.from_tensors(tf.ragged.constant([[6], [7, 8]])))
+
+    ray_dataset = ray.data.from_tf(tf_dataset)
+
+    actual_data = extract_values("item", ray_dataset.take_all())
+    expected_data = list(tf_dataset)
+
+    assert len(actual_data) == len(expected_data)
+    for actual_item, expected_item in zip(actual_data, expected_data):
+        assert _to_nested_lists(actual_item) == expected_item.to_list()
+
+
+def test_from_tf_ragged_and_sparse_tensor(ray_start_regular_shared_2_cpus):
+    import tensorflow as tf
+
+    ragged_tensor = tf.ragged.constant([[1, 2, 3], [4, 5]])
+    sparse_tensor = tf.sparse.from_dense([[1, 0, 0], [0, 2, 3]])
+    tf_dataset = tf.data.Dataset.from_tensors(
+        {"ragged": ragged_tensor, "sparse": sparse_tensor}
+    )
+
+    ray_dataset = ray.data.from_tf(tf_dataset)
+    actual_item = ray_dataset.take_all()[0]
+
+    assert _to_nested_lists(actual_item["ragged"]) == ragged_tensor.to_list()
+    assert isinstance(actual_item["sparse"], tf.compat.v1.SparseTensorValue)
+    np.testing.assert_array_equal(
+        actual_item["sparse"].indices, sparse_tensor.indices.numpy()
+    )
+    np.testing.assert_array_equal(
+        actual_item["sparse"].values, sparse_tensor.values.numpy()
+    )
+    np.testing.assert_array_equal(
+        actual_item["sparse"].dense_shape, sparse_tensor.dense_shape.numpy()
+    )
+
+
 if __name__ == "__main__":
     sys.exit(pytest.main(["-v", __file__]))