diff --git a/components/soc/esp32p4/usb_dwc_periph.c b/components/soc/esp32p4/usb_dwc_periph.c
index ce8a42997c..a392f53cf0 100644
--- a/components/soc/esp32p4/usb_dwc_periph.c
+++ b/components/soc/esp32p4/usb_dwc_periph.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -28,6 +28,11 @@ static const usb_otg_signal_conn_t dwc_fs_otg_signals = {
     .dischrgvbus    = USB_SRP_DISCHRGVBUS_PAD_OUT_IDX,
 };
 
+static const usb_internal_phy_io_t internal_phy_io = {
+    .dp = 27,
+    .dm = 26,
+};
+
 /* --------------------------------- Public --------------------------------- */
 
 const usb_dwc_info_t usb_dwc_info = {
@@ -36,6 +41,7 @@ const usb_dwc_info_t usb_dwc_info = {
         [0] = {
             .fsls_signals = NULL,
             .otg_signals = NULL,
+            .internal_phy_io = NULL, // HS PHY is not mapped to any GPIO
             .irq = ETS_USB_OTG_INTR_SOURCE,
             .irq_2nd_cpu = ETS_USB_OTG_ENDP_MULTI_PROC_INTR_SOURCE,
         },
@@ -43,6 +49,7 @@ const usb_dwc_info_t usb_dwc_info = {
         [1] = {
             .fsls_signals = NULL,
             .otg_signals = &dwc_fs_otg_signals,
+            .internal_phy_io = &internal_phy_io,
             .irq = ETS_USB_OTG11_CH0_INTR_SOURCE,
             .irq_2nd_cpu = -1,
         },
diff --git a/components/soc/esp32s2/usb_dwc_periph.c b/components/soc/esp32s2/usb_dwc_periph.c
index 2656918294..75bbf9957a 100644
--- a/components/soc/esp32s2/usb_dwc_periph.c
+++ b/components/soc/esp32s2/usb_dwc_periph.c
@@ -1,11 +1,10 @@
 /*
- * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "soc/gpio_sig_map.h"
-#include "soc/usb_periph.h"
 #include "soc/interrupts.h"
 #include "soc/usb_dwc_periph.h"
 
@@ -40,6 +39,11 @@ static const usb_otg_signal_conn_t otg_signals = {
     .dischrgvbus    = USB_SRP_DISCHRGVBUS_IDX,
 };
 
+static const usb_internal_phy_io_t internal_phy_io = {
+    .dp = 20,
+    .dm = 19,
+};
+
 /* --------------------------------- Public --------------------------------- */
 
 const usb_dwc_info_t usb_dwc_info = {
@@ -47,6 +51,7 @@ const usb_dwc_info_t usb_dwc_info = {
         [0] = {
             .fsls_signals = &fsls_signals,
             .otg_signals = &otg_signals,
+            .internal_phy_io = &internal_phy_io,
             .irq = ETS_USB_INTR_SOURCE,
             .irq_2nd_cpu = -1,
         },
@@ -55,6 +60,7 @@ const usb_dwc_info_t usb_dwc_info = {
 
 /* ------------------------------- Deprecated ------------------------------- */
 
+#include "soc/usb_periph.h"
 /*
 Note: These IO pins 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
diff --git a/components/soc/esp32s3/usb_dwc_periph.c b/components/soc/esp32s3/usb_dwc_periph.c
index c2690906f0..75bbf9957a 100644
--- a/components/soc/esp32s3/usb_dwc_periph.c
+++ b/components/soc/esp32s3/usb_dwc_periph.c
@@ -1,12 +1,10 @@
 /*
- * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include <stddef.h>
 #include "soc/gpio_sig_map.h"
-#include "soc/usb_periph.h"
 #include "soc/interrupts.h"
 #include "soc/usb_dwc_periph.h"
 
@@ -41,6 +39,11 @@ static const usb_otg_signal_conn_t otg_signals = {
     .dischrgvbus    = USB_SRP_DISCHRGVBUS_IDX,
 };
 
+static const usb_internal_phy_io_t internal_phy_io = {
+    .dp = 20,
+    .dm = 19,
+};
+
 /* --------------------------------- Public --------------------------------- */
 
 const usb_dwc_info_t usb_dwc_info = {
@@ -48,6 +51,7 @@ const usb_dwc_info_t usb_dwc_info = {
         [0] = {
             .fsls_signals = &fsls_signals,
             .otg_signals = &otg_signals,
+            .internal_phy_io = &internal_phy_io,
             .irq = ETS_USB_INTR_SOURCE,
             .irq_2nd_cpu = -1,
         },
@@ -56,6 +60,7 @@ const usb_dwc_info_t usb_dwc_info = {
 
 /* ------------------------------- Deprecated ------------------------------- */
 
+#include "soc/usb_periph.h"
 /*
 Note: These IO pins 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
diff --git a/components/soc/include/soc/usb_dwc_periph.h b/components/soc/include/soc/usb_dwc_periph.h
index ae633eeeca..8da20218f4 100644
--- a/components/soc/include/soc/usb_dwc_periph.h
+++ b/components/soc/include/soc/usb_dwc_periph.h
@@ -1,17 +1,12 @@
 /*
- * 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
 
-#include <stdint.h>
-#include <stdbool.h>
-#include "soc/soc_pins.h"
 #include "soc/soc_caps.h"
-#include "soc/periph_defs.h"
-#include "soc/gpio_sig_map.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -65,15 +60,29 @@ typedef struct {
     int dischrgvbus;
 } usb_otg_signal_conn_t;
 
+/**
+ * @brief Internal USB PHY IO
+ *
+ * Structure to store the IO numbers for a particular internal USB PHY
+ */
+typedef struct {
+    int dp;
+    int dm;
+} usb_internal_phy_io_t;
+
 /**
  * @brief USB Controller Information
  *
  * Structure to store information for all USB-DWC instances
+ *
+ * For targets with multiple USB controllers, we support only fixed mapping of the PHYs.
+ * This is a software limitation; the hardware supports swapping Controllers and PHYs.
  */
 typedef struct {
     struct {
         const usb_fsls_serial_signal_conn_t * const fsls_signals;   // Must be set if external PHY is supported by controller
         const usb_otg_signal_conn_t * const otg_signals;
+        const usb_internal_phy_io_t * const internal_phy_io;        // Must be set for internal FSLS PHY(s)
         const int irq;
         const int irq_2nd_cpu;  // The USB-DWC can provide 2nd interrupt so each CPU can have its own interrupt line. Set to -1 if not supported
     } controllers [SOC_USB_OTG_PERIPH_NUM];
@@ -85,6 +94,8 @@ extern const usb_dwc_info_t usb_dwc_info;
 
 /* ------------------------------- Deprecated ------------------------------- */
 /* Todo: Remove in ESP-IDF v6.0 (IDF-9052) */
+#include <stdint.h>
+#include "soc/periph_defs.h"
 
 #if SOC_USB_OTG_SUPPORTED
 
diff --git a/components/usb/usb_phy.c b/components/usb/usb_phy.c
index a20a6d6dcb..c5d510e4a2 100644
--- a/components/usb/usb_phy.c
+++ b/components/usb/usb_phy.c
@@ -369,12 +369,11 @@ esp_err_t usb_new_phy(const usb_phy_config_t *config, usb_phy_handle_t *handle_r
     }
 
     // For FSLS PHY that shares pads with GPIO peripheral, we must set drive capability to 3 (40mA)
-#if !CONFIG_IDF_TARGET_ESP32P4 // TODO: We must set drive capability for FSLS PHY for P4 too, to pass Full Speed eye diagram test
     if (phy_target == USB_PHY_TARGET_INT) {
-        gpio_set_drive_capability(USBPHY_DM_NUM, GPIO_DRIVE_CAP_3);
-        gpio_set_drive_capability(USBPHY_DP_NUM, GPIO_DRIVE_CAP_3);
+        assert(usb_dwc_info.controllers[otg11_index].internal_phy_io);
+        gpio_set_drive_capability(usb_dwc_info.controllers[otg11_index].internal_phy_io->dm, GPIO_DRIVE_CAP_3);
+        gpio_set_drive_capability(usb_dwc_info.controllers[otg11_index].internal_phy_io->dp, GPIO_DRIVE_CAP_3);
     }
-#endif
 
     *handle_ret = (usb_phy_handle_t) phy_context;
     if (phy_target == USB_PHY_TARGET_EXT) {