diff --git a/components/soc/esp32p4/include/soc/usb_pins.h b/components/soc/esp32p4/include/soc/usb_pins.h
deleted file mode 100644
index bbcb7c3ca4..0000000000
--- a/components/soc/esp32p4/include/soc/usb_pins.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#pragma once
-
-/*
-Note: These macros are deprecated.
-We define them for P4 only for backward compatibility with older version of esp_tinyusb
-
-Todo: Remove in IDF v6.0 (IDF-9029)
-*/
-#define USBPHY_VP_NUM -1
-#define USBPHY_VM_NUM -1
-#define USBPHY_RCV_NUM -1
-#define USBPHY_OEN_NUM -1
-#define USBPHY_VPO_NUM -1
-#define USBPHY_VMO_NUM -1
diff --git a/components/soc/esp32s2/include/soc/usb_pins.h b/components/soc/esp32s2/include/soc/usb_pins.h
index 8c837fed27..3d75c07b32 100644
--- a/components/soc/esp32s2/include/soc/usb_pins.h
+++ b/components/soc/esp32s2/include/soc/usb_pins.h
@@ -1,25 +1,11 @@
 /*
- * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #pragma once
 
-/*
-Note: These macros are deprecated. When connecting USB OTG to an external FSLS
-PHY, the FSLS Serial Interface signals can be routed to any GPIO via the GPIO
-matrix. Thus, these macros are meaningless.
-
-Todo: Remove in IDF v6.0 (IDF-9029)
-*/
-#define USBPHY_VP_NUM 33
-#define USBPHY_VM_NUM 34
-#define USBPHY_RCV_NUM 35
-#define USBPHY_OEN_NUM 36
-#define USBPHY_VPO_NUM 37
-#define USBPHY_VMO_NUM 38
-
 /* GPIOs corresponding to the pads of the internal USB PHY */
 #define USBPHY_DP_NUM 20
 #define USBPHY_DM_NUM 19
diff --git a/components/soc/esp32s3/include/soc/usb_pins.h b/components/soc/esp32s3/include/soc/usb_pins.h
index 7b82a1b440..3d75c07b32 100644
--- a/components/soc/esp32s3/include/soc/usb_pins.h
+++ b/components/soc/esp32s3/include/soc/usb_pins.h
@@ -1,25 +1,11 @@
 /*
- * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #pragma once
 
-/*
-Note: These macros are deprecated. When connecting USB OTG to an external FSLS
-PHY, the FSLS Serial Interface signals can be routed to any GPIO via the GPIO
-matrix. Thus, these macros are meaningless.
-
-Todo: Remove in IDF v6.0 (IDF-9029)
-*/
-#define USBPHY_VP_NUM 42
-#define USBPHY_VM_NUM 41
-#define USBPHY_RCV_NUM 21
-#define USBPHY_OEN_NUM 40
-#define USBPHY_VPO_NUM 39
-#define USBPHY_VMO_NUM 38
-
 /* GPIOs corresponding to the pads of the internal USB PHY */
 #define USBPHY_DP_NUM 20
 #define USBPHY_DM_NUM 19
diff --git a/tools/idf_py_actions/hints.yml b/tools/idf_py_actions/hints.yml
index 2d35770d32..260d16eed6 100644
--- a/tools/idf_py_actions/hints.yml
+++ b/tools/idf_py_actions/hints.yml
@@ -415,6 +415,10 @@
             re_variables: ['ESP_HF_CME_MEMEORY_FAILURE']
             hint_variables: ['ESP_HF_CME_MEMEORY_FAILURE', 'ESP_HF_CME_MEMORY_FAILURE ']
 
+-
+    re: "error: 'USBPHY_\\w+' undeclared"
+    hint: "USBPHY_* pin definitions from <soc/usb_pins.h> have been removed.\nTo use an external USB PHY, wire it to any GPIOs and declare those pin mappings in your application to match your hardware."
+
 -
     re: "intr_alloc: No free interrupt inputs for [_\\w]+ interrupt"
     hint: "For troubleshooting instructions related to interrupt allocation, run 'idf.py docs -sp api-reference/system/intr_alloc.html'"