diff --git a/components/hal/CMakeLists.txt b/components/hal/CMakeLists.txt
index b983fc1a0d..067ac01093 100644
--- a/components/hal/CMakeLists.txt
+++ b/components/hal/CMakeLists.txt
@@ -181,7 +181,6 @@ if(NOT BOOTLOADER_BUILD)
 
     if(CONFIG_SOC_USB_OTG_SUPPORTED)
         list(APPEND srcs
-                    "usb_hal.c"
                     "usb_dwc_hal.c"
                     "usb_fsls_phy_hal.c")
     endif()
diff --git a/components/hal/esp32s2/include/hal/usb_ll.h b/components/hal/esp32s2/include/hal/usb_ll.h
deleted file mode 100644
index 2be637f55c..0000000000
--- a/components/hal/esp32s2/include/hal/usb_ll.h
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-
-#include "soc/soc.h"
-#include "soc/system_reg.h"
-#include "soc/gpio_sig_map.h"
-#include "soc/usb_periph.h"
-
-static inline void usb_ll_int_phy_enable(void)
-{
-    USB_WRAP.otg_conf.pad_enable = 1;
-    USB_WRAP.otg_conf.phy_sel = 0;
-}
-
-static inline void usb_ll_ext_phy_enable(void)
-{
-    USB_WRAP.otg_conf.pad_enable = 1;
-    USB_WRAP.otg_conf.phy_sel = 1;
-}
-
-static inline void usb_ll_int_phy_pullup_conf(bool dp_pu, bool dp_pd, bool dm_pu, bool dm_pd)
-{
-    usb_wrap_otg_conf_reg_t conf = USB_WRAP.otg_conf;
-    conf.pad_pull_override = 1;
-    conf.dp_pullup = dp_pu;
-    conf.dp_pulldown = dp_pd;
-    conf.dm_pullup = dm_pu;
-    conf.dm_pulldown = dm_pd;
-    USB_WRAP.otg_conf = conf;
-}
diff --git a/components/hal/esp32s3/include/hal/usb_ll.h b/components/hal/esp32s3/include/hal/usb_ll.h
deleted file mode 100644
index 81950021d2..0000000000
--- a/components/hal/esp32s3/include/hal/usb_ll.h
+++ /dev/null
@@ -1,53 +0,0 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-
-#include "soc/soc.h"
-#include "soc/system_reg.h"
-#include "soc/gpio_sig_map.h"
-#include "soc/usb_periph.h"
-#include "soc/rtc_cntl_struct.h"
-
-static inline void usb_ll_int_phy_enable(void)
-{
-    USB_WRAP.otg_conf.pad_enable = 1;
-    // USB_OTG use internal PHY
-    USB_WRAP.otg_conf.phy_sel = 0;
-    // phy_sel is controlled by the following register value
-    RTCCNTL.usb_conf.sw_hw_usb_phy_sel = 1;
-    // phy_sel=sw_usb_phy_sel=1, USB_OTG is connected with internal PHY
-    RTCCNTL.usb_conf.sw_usb_phy_sel = 1;
-}
-
-static inline void usb_ll_ext_phy_enable(void)
-{
-    USB_WRAP.otg_conf.pad_enable = 1;
-    // USB_OTG use external PHY
-    USB_WRAP.otg_conf.phy_sel = 1;
-    // phy_sel is controlled by the following register value
-    RTCCNTL.usb_conf.sw_hw_usb_phy_sel = 1;
-    // phy_sel=sw_usb_phy_sel=0, USB_OTG is connected with external PHY through GPIO Matrix
-    RTCCNTL.usb_conf.sw_usb_phy_sel = 0;
-}
-
-static inline void usb_ll_int_phy_pullup_conf(bool dp_pu, bool dp_pd, bool dm_pu, bool dm_pd)
-{
-    usb_wrap_otg_conf_reg_t conf = USB_WRAP.otg_conf;
-    conf.pad_pull_override = 1;
-    conf.dp_pullup = dp_pu;
-    conf.dp_pulldown = dp_pd;
-    conf.dm_pullup = dm_pu;
-    conf.dm_pulldown = dm_pd;
-    USB_WRAP.otg_conf = conf;
-}
diff --git a/components/hal/include/hal/usb_hal.h b/components/hal/include/hal/usb_hal.h
deleted file mode 100644
index b79740932f..0000000000
--- a/components/hal/include/hal/usb_hal.h
+++ /dev/null
@@ -1,31 +0,0 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct {
-    bool use_external_phy;
-} usb_hal_context_t;
-
-void usb_hal_init(usb_hal_context_t *usb);
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/components/hal/usb_hal.c b/components/hal/usb_hal.c
deleted file mode 100644
index 359f50d68a..0000000000
--- a/components/hal/usb_hal.c
+++ /dev/null
@@ -1,26 +0,0 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-
-#include "hal/usb_ll.h"
-#include "hal/usb_hal.h"
-
-void usb_hal_init(usb_hal_context_t *usb)
-{
-    if (usb->use_external_phy) {
-        usb_ll_ext_phy_enable();
-    } else {
-        usb_ll_int_phy_enable();
-    }
-}
diff --git a/components/soc/CMakeLists.txt b/components/soc/CMakeLists.txt
index e8f8f4cccb..46212a3229 100644
--- a/components/soc/CMakeLists.txt
+++ b/components/soc/CMakeLists.txt
@@ -101,7 +101,7 @@ endif()
 
 if(CONFIG_SOC_USB_OTG_SUPPORTED)
     list(APPEND srcs "${target}/usb_periph.c"
-                     "${target}/usb_otg_periph.c")
+                     "${target}/usb_dwc_periph.c")
 endif()
 
 if(CONFIG_SOC_DAC_SUPPORTED)
diff --git a/components/soc/esp32s2/include/soc/usb_pins.h b/components/soc/esp32s2/include/soc/usb_pins.h
index 436df2baa6..8c837fed27 100644
--- a/components/soc/esp32s2/include/soc/usb_pins.h
+++ b/components/soc/esp32s2/include/soc/usb_pins.h
@@ -1,12 +1,18 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #pragma once
 
-/* GPIOs used to connect an external USB PHY */
+/*
+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
diff --git a/components/soc/esp32s2/include/soc/usb_struct.h b/components/soc/esp32s2/include/soc/usb_struct.h
index 14277b10e8..697c79e416 100644
--- a/components/soc/esp32s2/include/soc/usb_struct.h
+++ b/components/soc/esp32s2/include/soc/usb_struct.h
@@ -1,26 +1,41 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #pragma once
 
 #include <stdint.h>
-#include "usb_types.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/* USB IN EP Register block type */
+typedef struct usb_in_ep_reg {
+    volatile uint32_t diepctl;
+    uint32_t reserved;
+    volatile uint32_t diepint;
+    uint32_t reserved1;
+    volatile uint32_t dieptsiz;
+    volatile uint32_t diepdma;
+    volatile uint32_t dtxfsts;
+    uint32_t reserved2;
+} usb_in_endpoint_t;
+
+/* USB OUT EP Register block type */
+typedef struct usb_out_ep_reg {
+    volatile uint32_t doepctl;
+    uint32_t reserved;
+    volatile uint32_t doepint;
+    uint32_t reserved1;
+    volatile uint32_t doeptsiz;
+    volatile uint32_t doepdma;
+    uint32_t reserved2;
+    uint32_t reserved3;
+} usb_out_endpoint_t;
+
 typedef struct usb_reg {
     volatile uint32_t gotgctl;              // 0x0000 OTG Control and Status Register
     volatile uint32_t gotgint;              // 0x0004 OTG Interrupt Register
@@ -82,10 +97,10 @@ typedef struct usb_reg {
     volatile uint32_t dtknqr4_fifoemptymsk; // 0x0834 Device IN Endpoint FIFO Empty Interrupt Mask register
     uint32_t reserved_0x0838_0x0900[50];    // 0x0838 to 0x0900
     // Input Endpoints
-    usb_in_endpoint_t in_ep_reg[USB_IN_EP_NUM];     // 0x0900 to 0x09e0 IN EP registers
+    usb_in_endpoint_t in_ep_reg[7];         // 0x0900 to 0x09e0 IN EP registers
     uint32_t reserved_0x09e0_0x0b00[72];    // 0x09e0 to 0x0b00
     // Output Endpoints
-    usb_out_endpoint_t out_ep_reg[USB_OUT_EP_NUM];  // 0x0b00 to 0x0be0 OUT EP registers
+    usb_out_endpoint_t out_ep_reg[7];       // 0x0b00 to 0x0be0 OUT EP registers
     uint32_t reserved_0x0be0_0x0d00[72];    // 0x0be0 to 0x0d00
     uint32_t reserved_0x0d00_0x0e00[64];    // 0x0d00 to 0x0e00
     /**
diff --git a/components/soc/esp32s2/include/soc/usb_types.h b/components/soc/esp32s2/include/soc/usb_types.h
deleted file mode 100644
index 69e213ec84..0000000000
--- a/components/soc/esp32s2/include/soc/usb_types.h
+++ /dev/null
@@ -1,73 +0,0 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#pragma once
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdint.h>
-
-/* USB IN EP index */
-typedef enum {
-    USB_IN_EP_0 = 0,
-    USB_IN_EP_1,
-    USB_IN_EP_2,
-    USB_IN_EP_3,
-    USB_IN_EP_4,
-    USB_IN_EP_5,
-    USB_IN_EP_6,
-    USB_IN_EP_NUM
-} usb_in_ep_idx_t;
-
-/* USB OUT EP index */
-typedef enum {
-    USB_OUT_EP_0 = 0,
-    USB_OUT_EP_1,
-    USB_OUT_EP_2,
-    USB_OUT_EP_3,
-    USB_OUT_EP_4,
-    USB_OUT_EP_5,
-    USB_OUT_EP_6,
-    USB_OUT_EP_NUM
-} usb_out_ep_idx_t;
-
-/* USB IN EP Register block type */
-typedef struct usb_in_ep_reg {
-    volatile uint32_t diepctl;
-    uint32_t reserved;
-    volatile uint32_t diepint;
-    uint32_t reserved1;
-    volatile uint32_t dieptsiz;
-    volatile uint32_t diepdma;
-    volatile uint32_t dtxfsts;
-    uint32_t reserved2;
-} usb_in_endpoint_t;
-
-/* USB OUT EP Register block type */
-typedef struct usb_out_ep_reg {
-    volatile uint32_t doepctl;
-    uint32_t reserved;
-    volatile uint32_t doepint;
-    uint32_t reserved1;
-    volatile uint32_t doeptsiz;
-    volatile uint32_t doepdma;
-    uint32_t reserved2;
-    uint32_t reserved3;
-} usb_out_endpoint_t;
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/components/soc/esp32s2/usb_otg_periph.c b/components/soc/esp32s2/usb_dwc_periph.c
similarity index 91%
rename from components/soc/esp32s2/usb_otg_periph.c
rename to components/soc/esp32s2/usb_dwc_periph.c
index e2f96e23b6..eba3eaaf60 100644
--- a/components/soc/esp32s2/usb_otg_periph.c
+++ b/components/soc/esp32s2/usb_dwc_periph.c
@@ -1,10 +1,10 @@
 /*
- * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include "soc/usb_otg_periph.h"
+#include "soc/usb_dwc_periph.h"
 #include "soc/gpio_sig_map.h"
 
 /*
diff --git a/components/soc/esp32s2/usb_periph.c b/components/soc/esp32s2/usb_periph.c
index 2f55335feb..a3fda7193e 100644
--- a/components/soc/esp32s2/usb_periph.c
+++ b/components/soc/esp32s2/usb_periph.c
@@ -1,20 +1,19 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #include "soc/soc_caps.h"
 #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
+matrix. Thus, this mapping of signals to IO pins is meaningless.
+
+Todo: Remove in IDF v6.0 (IDF-9029)
+*/
 const usb_iopin_dsc_t usb_periph_iopins[] = {
     {USBPHY_VP_NUM, USB_EXTPHY_VP_IDX, 0, 1},
     {USBPHY_VM_NUM, USB_EXTPHY_VM_IDX, 0, 1},
diff --git a/components/soc/esp32s3/include/soc/usb_pins.h b/components/soc/esp32s3/include/soc/usb_pins.h
index 7407b0a615..7b82a1b440 100644
--- a/components/soc/esp32s3/include/soc/usb_pins.h
+++ b/components/soc/esp32s3/include/soc/usb_pins.h
@@ -1,12 +1,18 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #pragma once
 
-/* GPIOs used to connect an external USB PHY */
+/*
+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
diff --git a/components/soc/esp32s3/include/soc/usb_struct.h b/components/soc/esp32s3/include/soc/usb_struct.h
index d9645f1cb5..697c79e416 100644
--- a/components/soc/esp32s3/include/soc/usb_struct.h
+++ b/components/soc/esp32s3/include/soc/usb_struct.h
@@ -1,27 +1,41 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #pragma once
 
 #include <stdint.h>
-#include "usb_types.h"
 
-#include <stdint.h>
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/* USB IN EP Register block type */
+typedef struct usb_in_ep_reg {
+    volatile uint32_t diepctl;
+    uint32_t reserved;
+    volatile uint32_t diepint;
+    uint32_t reserved1;
+    volatile uint32_t dieptsiz;
+    volatile uint32_t diepdma;
+    volatile uint32_t dtxfsts;
+    uint32_t reserved2;
+} usb_in_endpoint_t;
+
+/* USB OUT EP Register block type */
+typedef struct usb_out_ep_reg {
+    volatile uint32_t doepctl;
+    uint32_t reserved;
+    volatile uint32_t doepint;
+    uint32_t reserved1;
+    volatile uint32_t doeptsiz;
+    volatile uint32_t doepdma;
+    uint32_t reserved2;
+    uint32_t reserved3;
+} usb_out_endpoint_t;
+
 typedef struct usb_reg {
     volatile uint32_t gotgctl;              // 0x0000 OTG Control and Status Register
     volatile uint32_t gotgint;              // 0x0004 OTG Interrupt Register
@@ -83,10 +97,10 @@ typedef struct usb_reg {
     volatile uint32_t dtknqr4_fifoemptymsk; // 0x0834 Device IN Endpoint FIFO Empty Interrupt Mask register
     uint32_t reserved_0x0838_0x0900[50];    // 0x0838 to 0x0900
     // Input Endpoints
-    usb_in_endpoint_t in_ep_reg[USB_IN_EP_NUM];     // 0x0900 to 0x09e0 IN EP registers
+    usb_in_endpoint_t in_ep_reg[7];         // 0x0900 to 0x09e0 IN EP registers
     uint32_t reserved_0x09e0_0x0b00[72];    // 0x09e0 to 0x0b00
     // Output Endpoints
-    usb_out_endpoint_t out_ep_reg[USB_OUT_EP_NUM];  // 0x0b00 to 0x0be0 OUT EP registers
+    usb_out_endpoint_t out_ep_reg[7];       // 0x0b00 to 0x0be0 OUT EP registers
     uint32_t reserved_0x0be0_0x0d00[72];    // 0x0be0 to 0x0d00
     uint32_t reserved_0x0d00_0x0e00[64];    // 0x0d00 to 0x0e00
     /**
diff --git a/components/soc/esp32s3/include/soc/usb_types.h b/components/soc/esp32s3/include/soc/usb_types.h
deleted file mode 100644
index 69e213ec84..0000000000
--- a/components/soc/esp32s3/include/soc/usb_types.h
+++ /dev/null
@@ -1,73 +0,0 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#pragma once
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdint.h>
-
-/* USB IN EP index */
-typedef enum {
-    USB_IN_EP_0 = 0,
-    USB_IN_EP_1,
-    USB_IN_EP_2,
-    USB_IN_EP_3,
-    USB_IN_EP_4,
-    USB_IN_EP_5,
-    USB_IN_EP_6,
-    USB_IN_EP_NUM
-} usb_in_ep_idx_t;
-
-/* USB OUT EP index */
-typedef enum {
-    USB_OUT_EP_0 = 0,
-    USB_OUT_EP_1,
-    USB_OUT_EP_2,
-    USB_OUT_EP_3,
-    USB_OUT_EP_4,
-    USB_OUT_EP_5,
-    USB_OUT_EP_6,
-    USB_OUT_EP_NUM
-} usb_out_ep_idx_t;
-
-/* USB IN EP Register block type */
-typedef struct usb_in_ep_reg {
-    volatile uint32_t diepctl;
-    uint32_t reserved;
-    volatile uint32_t diepint;
-    uint32_t reserved1;
-    volatile uint32_t dieptsiz;
-    volatile uint32_t diepdma;
-    volatile uint32_t dtxfsts;
-    uint32_t reserved2;
-} usb_in_endpoint_t;
-
-/* USB OUT EP Register block type */
-typedef struct usb_out_ep_reg {
-    volatile uint32_t doepctl;
-    uint32_t reserved;
-    volatile uint32_t doepint;
-    uint32_t reserved1;
-    volatile uint32_t doeptsiz;
-    volatile uint32_t doepdma;
-    uint32_t reserved2;
-    uint32_t reserved3;
-} usb_out_endpoint_t;
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/components/soc/esp32s3/usb_otg_periph.c b/components/soc/esp32s3/usb_dwc_periph.c
similarity index 91%
rename from components/soc/esp32s3/usb_otg_periph.c
rename to components/soc/esp32s3/usb_dwc_periph.c
index e2f96e23b6..eba3eaaf60 100644
--- a/components/soc/esp32s3/usb_otg_periph.c
+++ b/components/soc/esp32s3/usb_dwc_periph.c
@@ -1,10 +1,10 @@
 /*
- * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include "soc/usb_otg_periph.h"
+#include "soc/usb_dwc_periph.h"
 #include "soc/gpio_sig_map.h"
 
 /*
diff --git a/components/soc/esp32s3/usb_periph.c b/components/soc/esp32s3/usb_periph.c
index 2f55335feb..a3fda7193e 100644
--- a/components/soc/esp32s3/usb_periph.c
+++ b/components/soc/esp32s3/usb_periph.c
@@ -1,20 +1,19 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #include "soc/soc_caps.h"
 #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
+matrix. Thus, this mapping of signals to IO pins is meaningless.
+
+Todo: Remove in IDF v6.0 (IDF-9029)
+*/
 const usb_iopin_dsc_t usb_periph_iopins[] = {
     {USBPHY_VP_NUM, USB_EXTPHY_VP_IDX, 0, 1},
     {USBPHY_VM_NUM, USB_EXTPHY_VM_IDX, 0, 1},
diff --git a/components/soc/include/soc/usb_dwc_periph.h b/components/soc/include/soc/usb_dwc_periph.h
new file mode 100644
index 0000000000..d13286aa1d
--- /dev/null
+++ b/components/soc/include/soc/usb_dwc_periph.h
@@ -0,0 +1,46 @@
+/*
+ * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+#include <stdint.h>
+#include "soc/soc_caps.h"
+#include "soc/periph_defs.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ Stores a bunch of USB-peripheral data.
+*/
+typedef struct {
+    const uint8_t extphy_vp_in;
+    const uint8_t extphy_vm_in;
+    const uint8_t extphy_rcv_in;
+    const uint8_t extphy_oen_out;
+    const uint8_t extphy_vpo_out;
+    const uint8_t extphy_vmo_out;
+    const uint8_t extphy_suspend_in;
+    const uint8_t extphy_speed_in;
+    const uint8_t srp_bvalid_in;
+    const uint8_t srp_sessend_in;
+    const uint8_t srp_chrgvbus_out;
+    const uint8_t srp_dischrgvbus_out;
+    const uint8_t otg_iddig_in;
+    const uint8_t otg_avalid_in;
+    const uint8_t otg_vbusvalid_in;
+    const uint8_t otg_idpullup_out;
+    const uint8_t otg_dppulldown_out;
+    const uint8_t otg_dmpulldown_out;
+    const uint8_t otg_drvvbus_out;
+    const periph_module_t module;
+} usb_phy_signal_conn_t;
+
+extern const usb_phy_signal_conn_t usb_otg_periph_signal;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/soc/include/soc/usb_otg_periph.h b/components/soc/include/soc/usb_otg_periph.h
index d13286aa1d..be92ac4eb1 100644
--- a/components/soc/include/soc/usb_otg_periph.h
+++ b/components/soc/include/soc/usb_otg_periph.h
@@ -1,46 +1,12 @@
 /*
- * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #pragma once
-#include <stdint.h>
-#include "soc/soc_caps.h"
-#include "soc/periph_defs.h"
 
-#ifdef __cplusplus
-extern "C" {
-#endif
+/* Todo: Remove in ESP-IDF v6.0 (IDF-9052) */
+#warning "This header is deprecated, please use usb_dwc_periph.h instead"
 
-/*
- Stores a bunch of USB-peripheral data.
-*/
-typedef struct {
-    const uint8_t extphy_vp_in;
-    const uint8_t extphy_vm_in;
-    const uint8_t extphy_rcv_in;
-    const uint8_t extphy_oen_out;
-    const uint8_t extphy_vpo_out;
-    const uint8_t extphy_vmo_out;
-    const uint8_t extphy_suspend_in;
-    const uint8_t extphy_speed_in;
-    const uint8_t srp_bvalid_in;
-    const uint8_t srp_sessend_in;
-    const uint8_t srp_chrgvbus_out;
-    const uint8_t srp_dischrgvbus_out;
-    const uint8_t otg_iddig_in;
-    const uint8_t otg_avalid_in;
-    const uint8_t otg_vbusvalid_in;
-    const uint8_t otg_idpullup_out;
-    const uint8_t otg_dppulldown_out;
-    const uint8_t otg_dmpulldown_out;
-    const uint8_t otg_drvvbus_out;
-    const periph_module_t module;
-} usb_phy_signal_conn_t;
-
-extern const usb_phy_signal_conn_t usb_otg_periph_signal;
-
-#ifdef __cplusplus
-}
-#endif
+#include "soc/usb_dwc_periph.h"
diff --git a/components/soc/include/soc/usb_periph.h b/components/soc/include/soc/usb_periph.h
index 1f0adb36b5..cd2672e79a 100644
--- a/components/soc/include/soc/usb_periph.h
+++ b/components/soc/include/soc/usb_periph.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -10,18 +10,21 @@
 #include <stdbool.h>
 #include "soc/soc_pins.h"
 #include "soc/gpio_sig_map.h"
-#include "soc/usb_reg.h"
-#include "soc/usb_types.h"
-#include "soc/usb_struct.h"
-#include "soc/usb_wrap_reg.h"
-#include "soc/usb_wrap_struct.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+#if SOC_USB_OTG_SUPPORTED
+
 /**
- * @brief A pin descriptor for init
+ * @brief A pin descriptor for init (DEPRECATED)
+ *
+ * Todo: Remove in IDF v6.0 (IDF-9029)
+ *
+ * @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
+ * GPI0 matrix. Thus, this mapping of signals to IO pins is meaningless.
  */
 typedef struct {
     const int pin;
@@ -32,6 +35,8 @@ typedef struct {
 
 extern const usb_iopin_dsc_t usb_periph_iopins[];
 
+#endif // SOC_USB_OTG_SUPPORTED
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/usb/usb_phy.c b/components/usb/usb_phy.c
index 991bc4803d..0e36500f5e 100644
--- a/components/usb/usb_phy.c
+++ b/components/usb/usb_phy.c
@@ -11,7 +11,7 @@
 #include "esp_check.h"
 #include "esp_private/periph_ctrl.h"
 #include "esp_private/usb_phy.h"
-#include "soc/usb_otg_periph.h"
+#include "soc/usb_dwc_periph.h"
 #include "hal/usb_fsls_phy_hal.h"
 #include "hal/usb_fsls_phy_ll.h"
 #include "esp_rom_gpio.h"
diff --git a/examples/peripherals/usb/host/msc/main/msc_example_main.c b/examples/peripherals/usb/host/msc/main/msc_example_main.c
index c37107a39d..d6e4dc2153 100644
--- a/examples/peripherals/usb/host/msc/main/msc_example_main.c
+++ b/examples/peripherals/usb/host/msc/main/msc_example_main.c
@@ -18,7 +18,6 @@
 #include "ffconf.h"
 #include "esp_vfs.h"
 #include "errno.h"
-#include "hal/usb_hal.h"
 #include "driver/gpio.h"
 #include <esp_vfs_fat.h>
 
diff --git a/tools/ci/check_copyright_ignore.txt b/tools/ci/check_copyright_ignore.txt
index 8f286358df..15adc2ac92 100644
--- a/tools/ci/check_copyright_ignore.txt
+++ b/tools/ci/check_copyright_ignore.txt
@@ -878,15 +878,12 @@ components/soc/esp32s2/include/soc/touch_sensor_pins.h
 components/soc/esp32s2/include/soc/uart_pins.h
 components/soc/esp32s2/include/soc/uart_reg.h
 components/soc/esp32s2/include/soc/uhci_reg.h
-components/soc/esp32s2/include/soc/usb_struct.h
-components/soc/esp32s2/include/soc/usb_types.h
 components/soc/esp32s2/include/soc/usb_wrap_reg.h
 components/soc/esp32s2/include/soc/usb_wrap_struct.h
 components/soc/esp32s2/include/soc/usbh_struct.h
 components/soc/esp32s2/include/soc/wdev_reg.h
 components/soc/esp32s2/ledc_periph.c
 components/soc/esp32s2/uart_periph.c
-components/soc/esp32s2/usb_periph.c
 components/soc/esp32s3/dedic_gpio_periph.c
 components/soc/esp32s3/i2c_periph.c
 components/soc/esp32s3/include/soc/apb_ctrl_reg.h
@@ -950,8 +947,6 @@ components/soc/esp32s3/include/soc/uart_struct.h
 components/soc/esp32s3/include/soc/uhci_reg.h
 components/soc/esp32s3/include/soc/uhci_struct.h
 components/soc/esp32s3/include/soc/usb_serial_jtag_struct.h
-components/soc/esp32s3/include/soc/usb_struct.h
-components/soc/esp32s3/include/soc/usb_types.h
 components/soc/esp32s3/include/soc/usb_wrap_reg.h
 components/soc/esp32s3/include/soc/usb_wrap_struct.h
 components/soc/esp32s3/include/soc/usbh_struct.h
@@ -960,7 +955,6 @@ components/soc/esp32s3/ledc_periph.c
 components/soc/esp32s3/sdio_slave_periph.c
 components/soc/esp32s3/sdmmc_periph.c
 components/soc/esp32s3/uart_periph.c
-components/soc/esp32s3/usb_periph.c
 components/soc/include/soc/dedic_gpio_periph.h
 components/soc/include/soc/emac_periph.h
 components/soc/include/soc/gpio_periph.h