diff --git a/arch/arm/src/stm32h7/Kconfig b/arch/arm/src/stm32h7/Kconfig
index 64d518fc035..ee9b51681f5 100644
--- a/arch/arm/src/stm32h7/Kconfig
+++ b/arch/arm/src/stm32h7/Kconfig
@@ -843,6 +843,19 @@ config STM32H7_I2CTIMEOTICKS
 
 endmenu # "I2C Configuration"
 
+menu "OTG Configuration"
+	depends on STM32H7_OTGFS
+
+config OTG_ID_GPIO_DISABLE
+	bool "Disable the use of GPIO_OTG_ID pin."
+	default n
+	---help---
+		Disables/Enabled the use of GPIO_OTG_ID pin. This allows non OTG use
+		cases to reuse this GPIO pin and ensure it is not set incorrectlty
+		during OS boot.
+
+endmenu
+
 menu "SPI Configuration"
 	depends on STM32H7_SPI
 
diff --git a/arch/arm/src/stm32h7/stm32_otgdev.c b/arch/arm/src/stm32h7/stm32_otgdev.c
index adea1a11d1b..c9ef115cdd6 100644
--- a/arch/arm/src/stm32h7/stm32_otgdev.c
+++ b/arch/arm/src/stm32h7/stm32_otgdev.c
@@ -5586,7 +5586,11 @@ void arm_usbinitialize(void)
 
   stm32_configgpio(GPIO_OTG_DM);
   stm32_configgpio(GPIO_OTG_DP);
-  stm32_configgpio(GPIO_OTG_ID);    /* Only needed for OTG */
+
+  /* Only needed for OTG */
+#  ifndef CONFIG_OTG_ID_GPIO_DISABLE
+  stm32_configgpio(GPIO_OTG_ID);
+#  endif
 
   /* SOF output pin configuration is configurable. */