diff --git a/drivers/usb/dwc3/gadget.c b/drivers/usb/dwc3/gadget.c
index 69948ad39837..d868b62c1a16 100644
--- a/drivers/usb/dwc3/gadget.c
+++ b/drivers/usb/dwc3/gadget.c
@@ -604,6 +604,10 @@ static int __dwc3_gadget_ep_disable(struct dwc3_ep *dep)
 
 	dwc3_remove_requests(dwc, dep);
 
+	/* make sure HW endpoint isn't stalled */
+	if (dep->flags & DWC3_EP_STALL)
+		__dwc3_gadget_ep_set_halt(dep, 0);
+
 	reg = dwc3_readl(dwc->regs, DWC3_DALEPENA);
 	reg &= ~DWC3_DALEPENA_EP(dep->number);
 	dwc3_writel(dwc->regs, DWC3_DALEPENA, reg);