1. Install

$ sudo apt-get install xinetd tftpd tftp

2. Create /etc/xinetd.d/tftp and put this entry:

service tftp
{
protocol        = udp
port            = 69
socket_type     = dgram
wait            = yes
user            = nobody
server          = /usr/sbin/in.tftpd
server_args     = /tftpboot
disable         = no
}

3. Make /tftpboot directory

$ sudo mkdir /tftpboot
$ sudo chmod -R 777 /tftpboot
$ sudo chown -R nobody /tftpboot

4. Start tftpd through xinetd

$ sudo /etc/init.d/xinetd start