diff --git a/drivers/usb/dwc2/gadget.c b/drivers/usb/dwc2/gadget.c
index 8b15742d9e8a..62fa6378d2d7 100644
--- a/drivers/usb/dwc2/gadget.c
+++ b/drivers/usb/dwc2/gadget.c
@@ -4549,7 +4549,8 @@ static int dwc2_hsotg_udc_start(struct usb_gadget *gadget,
 	hsotg->gadget.dev.of_node = hsotg->dev->of_node;
 	hsotg->gadget.speed = USB_SPEED_UNKNOWN;
 
-	if (hsotg->dr_mode == USB_DR_MODE_PERIPHERAL) {
+	if (hsotg->dr_mode == USB_DR_MODE_PERIPHERAL ||
+	    (hsotg->dr_mode == USB_DR_MODE_OTG && dwc2_is_device_mode(hsotg))) {
 		ret = dwc2_lowlevel_hw_enable(hsotg);
 		if (ret)
 			goto err;
@@ -4611,7 +4612,8 @@ static int dwc2_hsotg_udc_stop(struct usb_gadget *gadget)
 	if (!IS_ERR_OR_NULL(hsotg->uphy))
 		otg_set_peripheral(hsotg->uphy->otg, NULL);
 
-	if (hsotg->dr_mode == USB_DR_MODE_PERIPHERAL)
+	if (hsotg->dr_mode == USB_DR_MODE_PERIPHERAL ||
+	    (hsotg->dr_mode == USB_DR_MODE_OTG && dwc2_is_device_mode(hsotg)))
 		dwc2_lowlevel_hw_disable(hsotg);
 
 	return 0;
diff --git a/drivers/usb/dwc2/platform.c b/drivers/usb/dwc2/platform.c
index 262c13b6362a..23ef75996823 100644
--- a/drivers/usb/dwc2/platform.c
+++ b/drivers/usb/dwc2/platform.c
@@ -576,7 +576,8 @@ static int dwc2_driver_probe(struct platform_device *dev)
 	dwc2_debugfs_init(hsotg);
 
 	/* Gadget code manages lowlevel hw on its own */
-	if (hsotg->dr_mode == USB_DR_MODE_PERIPHERAL)
+	if (hsotg->dr_mode == USB_DR_MODE_PERIPHERAL ||
+	    (hsotg->dr_mode == USB_DR_MODE_OTG && dwc2_is_device_mode(hsotg)))
 		dwc2_lowlevel_hw_disable(hsotg);
 
 #if IS_ENABLED(CONFIG_USB_DWC2_PERIPHERAL) || \