In recent years, as RISC-V architecture spreads rapidly in the industry due to its advantages of open source, concision, and modularization, massive processor IP cores and system on chip (SoC) based on the RISC-V architecture have emerged in the market. The existing debuggers serve as an important tool in developing RISC-V software, but they face low performance, high deployment cost, and high difficulty in secondary development and struggle in meeting the needs of RTL design and verification, software development and debugging, and mass production/batch programming of RISC-V architecture-based chips. To solve these problems, this study proposes a new, open-source, and modularized RISC-V debugger protocol stack design scheme based on the lightweight remote procedure call—Morpheus. Experiments and analysis results have shown that this debugger protocol stack can effectively reduce the deployment cost and the difficulty of secondary development and improves the debugging performance.