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We study analytically an underdamped current-biased topological Josephson junction. First, we consider a simplified model at zero temperature, where the parity of the nonlocal fermionic state formed by Majorana bound states (MBSs) localized on the junction is fixed, and show that a transition from insulating to conducting state in this case is governed by single-quasiparticle tunneling rather than by Cooper pair tunneling, in contrast to a nontopological Josephson junction. This results in a significantly lower critical current for the transition from insulating to conducting state. We propose that if the length of the system is finite, the transition from insulating to conducting state occurs at exponentially higher bias current due to hybridization of the states with different parities as a result of the overlap of MBSs localized on the junction and at the edges of the topological nanowire forming the junction. Finally, we discuss how the appearance of MBSs can be established experimentally by measuring the critical current for an insulating regime at different values of the applied magnetic field.