diff --git a/drivers/usb/chipidea/udc.c b/drivers/usb/chipidea/udc.c
index 391a1225b0ba..ca367b05e440 100644
--- a/drivers/usb/chipidea/udc.c
+++ b/drivers/usb/chipidea/udc.c
@@ -1585,8 +1585,11 @@ static int ci_udc_pullup(struct usb_gadget *_gadget, int is_on)
 {
 	struct ci_hdrc *ci = container_of(_gadget, struct ci_hdrc, gadget);
 
-	/* Data+ pullup controlled by OTG state machine in OTG fsm mode */
-	if (ci_otg_is_fsm_mode(ci))
+	/*
+	 * Data+ pullup controlled by OTG state machine in OTG fsm mode;
+	 * and don't touch Data+ in host mode for dual role config.
+	 */
+	if (ci_otg_is_fsm_mode(ci) || ci->role == CI_ROLE_HOST)
 		return 0;
 
 	pm_runtime_get_sync(&ci->gadget.dev);