diff --git a/boards/nxp/lpcxpresso55s69/lpcxpresso55s69_lpc55s69_cpu0.dts b/boards/nxp/lpcxpresso55s69/lpcxpresso55s69_lpc55s69_cpu0.dts
index 1b0004464b0..9c6f9b837cc 100644
--- a/boards/nxp/lpcxpresso55s69/lpcxpresso55s69_lpc55s69_cpu0.dts
+++ b/boards/nxp/lpcxpresso55s69/lpcxpresso55s69_lpc55s69_cpu0.dts
@@ -149,6 +149,14 @@
 
 zephyr_udc0: &usbhs {
 	status = "okay";
+	phy_handle = <&usbphy1>;
+};
+
+&usbphy1 {
+	status = "okay";
+	tx-d-cal = <5>;
+	tx-cal-45-dp-ohms = <10>;
+	tx-cal-45-dm-ohms = <10>;
 };
 
 &ctimer0 {
diff --git a/boards/nxp/mimxrt1060_evk/mimxrt1060_evk.dts b/boards/nxp/mimxrt1060_evk/mimxrt1060_evk.dts
index 92fa9d6d180..47f4901a223 100644
--- a/boards/nxp/mimxrt1060_evk/mimxrt1060_evk.dts
+++ b/boards/nxp/mimxrt1060_evk/mimxrt1060_evk.dts
@@ -183,6 +183,14 @@ arduino_i2c: &lpi2c1 {
 
 zephyr_udc0: &usb1 {
 	status = "okay";
+	phy_handle = <&usbphy1>;
+};
+
+&usbphy1 {
+	status = "okay";
+	tx-d-cal = <12>;
+	tx-cal-45-dp-ohms = <6>;
+	tx-cal-45-dm-ohms = <6>;
 };
 
 &flexpwm2_pwm3 {
diff --git a/boards/nxp/mimxrt685_evk/mimxrt685_evk_mimxrt685s_cm33.dts b/boards/nxp/mimxrt685_evk/mimxrt685_evk_mimxrt685s_cm33.dts
index 3464ef6f10a..7c7f9bd03b8 100644
--- a/boards/nxp/mimxrt685_evk/mimxrt685_evk_mimxrt685s_cm33.dts
+++ b/boards/nxp/mimxrt685_evk/mimxrt685_evk_mimxrt685s_cm33.dts
@@ -355,6 +355,14 @@ i2s1: &flexcomm3 {
 
 zephyr_udc0: &usbhs {
 	status = "okay";
+	phy_handle = <&usbphy>;
+};
+
+&usbphy {
+	status = "okay";
+	tx-d-cal = <12>;
+	tx-cal-45-dp-ohms = <6>;
+	tx-cal-45-dm-ohms = <6>;
 };
 
 &ctimer0 {
diff --git a/soc/nxp/imxrt/CMakeLists.txt b/soc/nxp/imxrt/CMakeLists.txt
index b42829869e4..371938f7543 100644
--- a/soc/nxp/imxrt/CMakeLists.txt
+++ b/soc/nxp/imxrt/CMakeLists.txt
@@ -39,6 +39,7 @@ endif()
 
 if(CONFIG_SOC_SERIES_IMXRT6XX OR CONFIG_SOC_SERIES_IMXRT5XX)
   zephyr_linker_sources_ifdef(CONFIG_USB_DEVICE_DRIVER SECTIONS usb.ld)
+  zephyr_linker_sources_ifdef(CONFIG_UDC_DRIVER SECTIONS usb.ld)
 endif()
 
 if(CONFIG_MEMC)
diff --git a/soc/nxp/imxrt/imxrt10xx/soc.c b/soc/nxp/imxrt/imxrt10xx/soc.c
index 789f02099be..edc5d38f01e 100644
--- a/soc/nxp/imxrt/imxrt10xx/soc.c
+++ b/soc/nxp/imxrt/imxrt10xx/soc.c
@@ -243,21 +243,27 @@ static ALWAYS_INLINE void clock_init(void)
 				kIOMUXC_GPR_ENET2RefClkMode, true);
 #endif
 
-#if DT_NODE_HAS_STATUS(DT_NODELABEL(usb1), okay) && CONFIG_USB_DC_NXP_EHCI
+#if DT_NODE_HAS_STATUS(DT_NODELABEL(usb1), okay) && \
+	(CONFIG_USB_DC_NXP_EHCI || CONFIG_UDC_NXP_EHCI)
 	CLOCK_EnableUsbhs0PhyPllClock(kCLOCK_Usb480M,
 		DT_PROP_BY_PHANDLE(DT_NODELABEL(usb1), clocks, clock_frequency));
 	CLOCK_EnableUsbhs0Clock(kCLOCK_Usb480M,
 		DT_PROP_BY_PHANDLE(DT_NODELABEL(usb1), clocks, clock_frequency));
+#if DT_NODE_HAS_STATUS(DT_NODELABEL(usb1), okay) && CONFIG_USB_DC_NXP_EHCI
 	USB_EhciPhyInit(kUSB_ControllerEhci0, CPU_XTAL_CLK_HZ, &usbPhyConfig);
 #endif
+#endif
 
-#if DT_NODE_HAS_STATUS(DT_NODELABEL(usb2), okay) && CONFIG_USB_DC_NXP_EHCI
+#if DT_NODE_HAS_STATUS(DT_NODELABEL(usb2), okay) && \
+	(CONFIG_USB_DC_NXP_EHCI || CONFIG_UDC_NXP_EHCI)
 	CLOCK_EnableUsbhs1PhyPllClock(kCLOCK_Usb480M,
 		DT_PROP_BY_PHANDLE(DT_NODELABEL(usb2), clocks, clock_frequency));
 	CLOCK_EnableUsbhs1Clock(kCLOCK_Usb480M,
 		DT_PROP_BY_PHANDLE(DT_NODELABEL(usb2), clocks, clock_frequency));
+#if DT_NODE_HAS_STATUS(DT_NODELABEL(usb1), okay) && CONFIG_USB_DC_NXP_EHCI
 	USB_EhciPhyInit(kUSB_ControllerEhci1, CPU_XTAL_CLK_HZ, &usbPhyConfig);
 #endif
+#endif
 
 #if DT_NODE_HAS_STATUS(DT_NODELABEL(usdhc1), okay) && CONFIG_IMX_USDHC
 	/* Configure USDHC clock source and divider */
diff --git a/soc/nxp/imxrt/imxrt6xx/cm33/CMakeLists.txt b/soc/nxp/imxrt/imxrt6xx/cm33/CMakeLists.txt
index 7ed2c42c708..8ea9e211c2b 100644
--- a/soc/nxp/imxrt/imxrt6xx/cm33/CMakeLists.txt
+++ b/soc/nxp/imxrt/imxrt6xx/cm33/CMakeLists.txt
@@ -18,6 +18,7 @@ zephyr_library_include_directories(
   )
 
 zephyr_compile_definitions_ifdef(CONFIG_USB_DEVICE_DRIVER USB_STACK_USE_DEDICATED_RAM=1)
+zephyr_compile_definitions_ifdef(CONFIG_UDC_DRIVER USB_STACK_USE_DEDICATED_RAM=1)
 
 if(CONFIG_FLASH_MCUX_FLEXSPI_XIP)
   zephyr_code_relocate(FILES flash_clock_setup.c LOCATION RAM)
diff --git a/soc/nxp/imxrt/imxrt6xx/cm33/soc.c b/soc/nxp/imxrt/imxrt6xx/cm33/soc.c
index bb6ea26ac45..d31929947f4 100644
--- a/soc/nxp/imxrt/imxrt6xx/cm33/soc.c
+++ b/soc/nxp/imxrt/imxrt6xx/cm33/soc.c
@@ -30,7 +30,7 @@
 #include "flash_clock_setup.h"
 #endif
 
-#if CONFIG_USB_DC_NXP_LPCIP3511
+#if CONFIG_USB_DC_NXP_LPCIP3511 || CONFIG_UDC_NXP_IP3511
 #include "usb_phy.h"
 #include "usb.h"
 #endif
@@ -68,7 +68,7 @@ const clock_audio_pll_config_t g_audioPllConfig = {
 };
 #endif
 
-#if CONFIG_USB_DC_NXP_LPCIP3511
+#if CONFIG_USB_DC_NXP_LPCIP3511 || CONFIG_UDC_NXP_IP3511
 /* USB PHY condfiguration */
 #define BOARD_USB_PHY_D_CAL (0x0CU)
 #define BOARD_USB_PHY_TXCAL45DP (0x06U)
@@ -124,7 +124,7 @@ __imx_boot_ivt_section void (* const image_vector_table[])(void)  = {
 };
 #endif /* CONFIG_NXP_IMXRT_BOOT_HEADER */
 
-#if CONFIG_USB_DC_NXP_LPCIP3511
+#if CONFIG_USB_DC_NXP_LPCIP3511 || CONFIG_UDC_NXP_IP3511
 
 static void usb_device_clock_init(void)
 {
@@ -244,7 +244,7 @@ static ALWAYS_INLINE void clock_init(void)
 	CLOCK_AttachClk(kSFRO_to_FLEXCOMM0);
 #endif
 
-#if CONFIG_USB_DC_NXP_LPCIP3511
+#if CONFIG_USB_DC_NXP_LPCIP3511 || CONFIG_UDC_NXP_IP3511
 	usb_device_clock_init();
 #endif
 
diff --git a/soc/nxp/lpc/lpc55xxx/CMakeLists.txt b/soc/nxp/lpc/lpc55xxx/CMakeLists.txt
index 429e41722f7..4dae5afa7ee 100644
--- a/soc/nxp/lpc/lpc55xxx/CMakeLists.txt
+++ b/soc/nxp/lpc/lpc55xxx/CMakeLists.txt
@@ -14,8 +14,11 @@ zephyr_library_include_directories(
 if(DEFINED CONFIG_LPC55XXX_USB_RAM)
 zephyr_linker_sources_ifdef(CONFIG_USB_DEVICE_DRIVER
   SECTIONS usb.ld)
+  zephyr_linker_sources_ifdef(CONFIG_UDC_DRIVER
+  SECTIONS usb.ld)
 
 zephyr_compile_definitions_ifdef(CONFIG_USB_DEVICE_DRIVER USB_STACK_USE_DEDICATED_RAM=1)
+zephyr_compile_definitions_ifdef(CONFIG_UDC_DRIVER USB_STACK_USE_DEDICATED_RAM=1)
 endif()
 
 # CMSIS SystemInit allows us to skip enabling clock to SRAM banks via
diff --git a/soc/nxp/lpc/lpc55xxx/soc.c b/soc/nxp/lpc/lpc55xxx/soc.c
index 5072fd8266b..1dad08a3a0b 100644
--- a/soc/nxp/lpc/lpc55xxx/soc.c
+++ b/soc/nxp/lpc/lpc55xxx/soc.c
@@ -26,7 +26,7 @@
 #ifdef CONFIG_GPIO_MCUX_LPC
 #include <fsl_pint.h>
 #endif
-#if CONFIG_USB_DC_NXP_LPCIP3511
+#if CONFIG_USB_DC_NXP_LPCIP3511 || CONFIG_UDC_NXP_IP3511
 #include "usb_phy.h"
 #include "usb.h"
 #endif
@@ -207,7 +207,7 @@ static ALWAYS_INLINE void clock_init(void)
 	CLOCK_EnableClock(kCLOCK_Mailbox);
 #endif
 
-#if CONFIG_USB_DC_NXP_LPCIP3511
+#if CONFIG_USB_DC_NXP_LPCIP3511 || CONFIG_UDC_NXP_IP3511
 
 #if DT_NODE_HAS_COMPAT_STATUS(DT_NODELABEL(usbfs), nxp_lpcip3511, okay)
 	/*< Turn on USB Phy */
@@ -256,7 +256,9 @@ static ALWAYS_INLINE void clock_init(void)
 	/* enable USB IP clock */
 	CLOCK_EnableUsbhs0PhyPllClock(kCLOCK_UsbPhySrcExt, CLK_CLK_IN);
 	CLOCK_EnableUsbhs0DeviceClock(kCLOCK_UsbSrcUnused, 0U);
+#if CONFIG_USB_DC_NXP_LPCIP3511
 	USB_EhciPhyInit(kUSB_ControllerLpcIp3511Hs0, CLK_CLK_IN, NULL);
+#endif
 #if defined(FSL_FEATURE_USBHSD_USB_RAM) && (FSL_FEATURE_USBHSD_USB_RAM)
 	memset((uint8_t *)FSL_FEATURE_USBHSD_USB_RAM_BASE_ADDRESS, 0, FSL_FEATURE_USBHSD_USB_RAM);
 #endif