—In this paper, we derive the asymptotic bit error rate (BER) for multiple-input multiple-output bit-interleaved coded modulation (MIMO-BICM) with linear zero-forcing (ZF) receivers for a temporally correlated flat Rayleigh fading channel. Pilot symbol assisted modulation (PSAM) in combination with linear minimum mean-squared error (LMMSE) channel estimation is considered. We also demonstrate that the deterioration due to imperfect channel state information (CSI) can be represented by a signal-to-noise ratio (SNR) degradation.