In comparison to haematological malignancies, redirecting T cell activity to eradicate solid tumours has proved challenging, primarily owing to the lack of tumour-restricted antigens. Here, Slaga et al. develop an anti-HER2/CD3 T cell–dependent bispecific (TDB) antibody that selectively targets HER2-overexpressing tumour cells relative to healthy cells, owing to the presence of two low-affinity anti-HER2 Fab arms. A single intravenous dose of the antibody potently induced regression of HER2-overexpressing tumours in mouse xenograft models. Importantly, the antibody displayed limited pharmacological activity in cynomolgus monkey tissues and was well-tolerated.