Actually, the solution proposed by François Marier should work, but only
if you have one RAID array and this array is called md0.

A completely flexible and at the same time simple solution is to use the
function mountroot_fail located at /usr/share/initramfs-tools/scripts
/mdadm-functions, which correctly detects the bootdegraded options
passed via a kernel param or in the mdadm.conf and knows how to activate
all the arrays in the system. This is how degraded arrays are treated
when there is no cryptsetup (which interferes in the middle of the mdadm
handling scripts).

So, just run this command (adjust the line numbers if your version
differs):

echo -e '205a206,212
> \t\t. /scripts/mdadm-functions
> \t\t. /scripts/functions
> \t\tmountroot_fail
> \t\techo "mountroot_fail returned $?\\n"
> \tfi
> 
> \tif [ ! -e $cryptsource ]; then' | patch -n 
> /usr/share/initramfs-tools/scripts/local-top/cryptroot

and then

update-initramfs -u -k all

And your system will boot with degraded arrays.

If not yet done, you'll need to change the ID of the disk for EFI partition to 
its dev name so the system can mount it independently of the disk it boots 
from, e.g.
/dev/sda1       /boot/efi

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https://bugs.launchpad.net/bugs/251164

Title:
  boot impossible due to missing initramfs failure hook / event driven
  initramfs

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