Exhibit 23.1

Consent of Independent Registered Public Accounting Firm

We consent to the reference to our firm under the caption “Experts” in the Registration Statement (Form S-3 No. 333-255014) and related Prospectus of Sutro Biopharma, Inc. for the registration of up to $350,000,000 of its common stock, preferred stock, debt securities, warrants, subscription rights to purchase common stock, preferred stock or debt securities, and units consisting of some or all of these securities, and to the incorporation by reference therein of our reports dated February 28, 2022, with respect to the financial statements of Sutro Biopharma, Inc., and the effectiveness of internal control over financial reporting of Sutro Biopharma, Inc., included in its Annual Report (Form 10-K) for the year ended December 31, 2021, filed with the Securities and Exchange Commission.

/s/ Ernst & Young LLP

Redwood City, California

May 18, 2022