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Within the framework of NRQCD, we calculate the production of excited doubly heavy baryons $Ξ_{bQ}$ through the semi-inclusive production process $t\rightarrow \langle bQ\rangle[n]\rightarrow Ξ_{bQ}+ \bar {Q} + W^+ $, where $Q= b$ or $c$ quark. The intermediate diquark state $\langle bQ\rangle[n]$ is in the excited $P$-wave state, including $[^1P_1]$ and $[^3P_J]$ ($J=$0, 1 or 2) in both color antitriplet state $\mathbf{\mathbf{\overline 3}}$ and color sixtuplet state $\mathbf{6}$, that is, $\langle bc\rangle[^{1}P_{1}]_{\mathbf{\overline 3}/ \mathbf{6}}$, $\langle bc\rangle[^{3}P_{J}]_{\mathbf{\overline 3}/ \mathbf{6}}$, $\langle bb\rangle[^{1}P_{1}]_{\mathbf{\overline 3}}$, and $\langle bb\rangle[^{3}P_{J}]_{\mathbf{6}}$. We find that the contributions from the P-wave states are about one order lower than the S-wave contributions, and this conclusion is consistent with others. We also analyze the invariant mass and angle differential distributions, and the theoretical uncertainty from the mass parameters and the renormalization scale. Finally, we can expect that about $1.14 \times10^{3-5}$ events of excited $Ξ_{bc}$ and $2.47 \times10^{1-3}$ events of excited $Ξ_{bb}$ can be produced per year at the LHC or HL-LHC with $\mathcal{L}$ =$10^{34-36}~\rm{cm}^{-2}~\rm{s}^{-1}$.