diff --git a/arch/arm/src/stm32/stm32_otgfsdev.c b/arch/arm/src/stm32/stm32_otgfsdev.c
index 461d500ad17..2d6ca9831c4 100644
--- a/arch/arm/src/stm32/stm32_otgfsdev.c
+++ b/arch/arm/src/stm32/stm32_otgfsdev.c
@@ -3900,7 +3900,7 @@ static void stm32_epout_disable(FAR struct stm32_ep_s *privep)
  * Name: stm32_epin_disable
  *
  * Description:
- *   Diable an IN endpoint will no longer be used
+ *   Disable an IN endpoint when it will no longer be used
  *
  *******************************************************************************/
 
@@ -3912,6 +3912,17 @@ static void stm32_epin_disable(FAR struct stm32_ep_s *privep)
 
   usbtrace(TRACE_EPDISABLE, privep->epphy);
 
+  /* After USB reset, the endpoint will already be deactivated by the
+   * hardware. Trying to disable again will just hang in the wait.
+   */
+
+  regaddr = STM32_OTGFS_DIEPCTL(privep->epphy);
+  regval  = stm32_getreg(regaddr);
+  if ((regval & OTGFS_DIEPCTL_USBAEP) == 0)
+    {
+      return;
+    }
+
   /* Make sure that there is no pending IPEPNE interrupt (because we are
    * to poll this bit below).
    */