diff --git a/drivers/usb/dwc3/gadget.c b/drivers/usb/dwc3/gadget.c
index a17af4ab20a3..6adac832430a 100644
--- a/drivers/usb/dwc3/gadget.c
+++ b/drivers/usb/dwc3/gadget.c
@@ -3735,6 +3735,15 @@ static void dwc3_gadget_endpoint_transfer_complete(struct dwc3_ep *dep,
 static void dwc3_gadget_endpoint_transfer_not_ready(struct dwc3_ep *dep,
 		const struct dwc3_event_depevt *event)
 {
+	/*
+	 * During a device-initiated disconnect, a late xferNotReady event can
+	 * be generated after the End Transfer command resets the event filter,
+	 * but before the controller is halted. Ignore it to prevent a new
+	 * transfer from starting.
+	 */
+	if (!dep->dwc->connected)
+		return;
+
 	dwc3_gadget_endpoint_frame_from_event(dep, event);
 
 	/*