diff --git a/arch/arm/soc/st_stm32/stm32f1/dts.fixup b/arch/arm/soc/st_stm32/stm32f1/dts.fixup
index 7c7771bc44b..08b4f8fe062 100644
--- a/arch/arm/soc/st_stm32/stm32f1/dts.fixup
+++ b/arch/arm/soc/st_stm32/stm32f1/dts.fixup
@@ -51,4 +51,10 @@
 #define CONFIG_SPI_3_NAME			ST_STM32_SPI_40003C00_LABEL
 #define CONFIG_SPI_3_IRQ			ST_STM32_SPI_40003C00_IRQ_0
 
+#define CONFIG_USB_BASE_ADDRESS			ST_STM32_USB_40005C00_BASE_ADDRESS
+#define CONFIG_USB_IRQ				ST_STM32_USB_40005C00_IRQ_USB
+#define CONFIG_USB_IRQ_PRI			ST_STM32_USB_40005C00_IRQ_USB_PRIORITY
+#define CONFIG_USB_NUM_BIDIR_ENDPOINTS		ST_STM32_USB_40005C00_NUM_BIDIR_ENDPOINTS
+#define CONFIG_USB_RAM_SIZE			ST_STM32_USB_40005C00_RAM_SIZE
+
 /* End of SoC Level DTS fixup file */
diff --git a/arch/arm/soc/st_stm32/stm32f1/soc.c b/arch/arm/soc/st_stm32/stm32f1/soc.c
index 70b2e36a414..d8028f074b3 100644
--- a/arch/arm/soc/st_stm32/stm32f1/soc.c
+++ b/arch/arm/soc/st_stm32/stm32f1/soc.c
@@ -27,6 +27,17 @@ uint32_t HAL_GetTick(void)
 	return k_uptime_get_32();
 }
 
+/**
+ * @brief This function provides minimum delay (in milliseconds) based
+ *	  on variable incremented.
+ * @param Delay: specifies the delay time length, in milliseconds.
+ * @return None
+ */
+void HAL_Delay(__IO uint32_t Delay)
+{
+	k_sleep(Delay);
+}
+
 /**
  * @brief Perform basic hardware initialization at boot.
  *
diff --git a/boards/arm/olimexino_stm32/Kconfig.board b/boards/arm/olimexino_stm32/Kconfig.board
index c715dab5ebb..f84125e76da 100644
--- a/boards/arm/olimexino_stm32/Kconfig.board
+++ b/boards/arm/olimexino_stm32/Kconfig.board
@@ -7,3 +7,4 @@
 config BOARD_OLIMEXINO_STM32
 	bool "OLIMEXINO-STM32 Development Board"
 	depends on SOC_STM32F103XB
+	select USB_DC_STM32_DISCONN_ENABLE if USB
diff --git a/boards/arm/olimexino_stm32/Kconfig.defconfig b/boards/arm/olimexino_stm32/Kconfig.defconfig
index 467b5099844..c8eeb355d8b 100644
--- a/boards/arm/olimexino_stm32/Kconfig.defconfig
+++ b/boards/arm/olimexino_stm32/Kconfig.defconfig
@@ -44,4 +44,17 @@ config PWM_STM32_1
 
 endif # PWM
 
+if USB_DC_STM32_DISCONN_ENABLE
+
+config USB_DC_STM32_DISCONN_GPIO_PORT_NAME
+	default "GPIOC"
+
+config USB_DC_STM32_DISCONN_PIN
+	default 12
+
+config USB_DC_STM32_DISCONN_PIN_LEVEL
+	default 0
+
+endif # USB_DC_STM32_DISCONN_ENABLE
+
 endif # BOARD_OLIMEXINO_STM32
diff --git a/boards/arm/olimexino_stm32/doc/olimexino_stm32.rst b/boards/arm/olimexino_stm32/doc/olimexino_stm32.rst
index 0d1e04e55e4..f0f8b677a0d 100644
--- a/boards/arm/olimexino_stm32/doc/olimexino_stm32.rst
+++ b/boards/arm/olimexino_stm32/doc/olimexino_stm32.rst
@@ -45,6 +45,8 @@ hardware features:
 +-----------+------------+----------------------+
 | SPI       | on-chip    | spi                  |
 +-----------+------------+----------------------+
+| USB       | on-chip    | USB device           |
++-----------+------------+----------------------+
 
 Other hardware features are not supported by the Zephyr kernel.
 
@@ -319,6 +321,15 @@ OLIMEXINO-STM32 board has up to 1 I2C. The default I2C mapping for Zephyr is:
 - I2C2_SCL : PB10
 - I2C2_SDA : PB11
 
+USB
+===
+
+OLIMEXINO-STM32 board has a USB 2.0 full-speed device interface available
+through its mini USB connector.
+
+- USB_DM : PA11
+- USB_DP : PA12
+
 Jumpers
 =======
 
diff --git a/boards/arm/olimexino_stm32/olimexino_stm32.dts b/boards/arm/olimexino_stm32/olimexino_stm32.dts
index 0c483949b98..d0f25a6a98c 100644
--- a/boards/arm/olimexino_stm32/olimexino_stm32.dts
+++ b/boards/arm/olimexino_stm32/olimexino_stm32.dts
@@ -74,3 +74,7 @@
 &spi2 {
 	status = "ok";
 };
+
+&usb {
+	status = "ok";
+};
diff --git a/boards/arm/olimexino_stm32/olimexino_stm32.yaml b/boards/arm/olimexino_stm32/olimexino_stm32.yaml
index f31785bdff3..d865710ce99 100644
--- a/boards/arm/olimexino_stm32/olimexino_stm32.yaml
+++ b/boards/arm/olimexino_stm32/olimexino_stm32.yaml
@@ -10,3 +10,4 @@ supported:
   - gpio
   - i2c
   - spi
+  - usb_device
diff --git a/boards/arm/olimexino_stm32/pinmux.c b/boards/arm/olimexino_stm32/pinmux.c
index ec3c6b0e9e0..17cb59f4ceb 100644
--- a/boards/arm/olimexino_stm32/pinmux.c
+++ b/boards/arm/olimexino_stm32/pinmux.c
@@ -45,6 +45,10 @@ static const struct pin_config pinconf[] = {
 #ifdef CONFIG_PWM_STM32_1
 	{STM32_PIN_PA8, STM32F1_PINMUX_FUNC_PA8_PWM1_CH1},
 #endif /* CONFIG_PWM_STM32_1 */
+#ifdef USB_DC_STM32
+	{STM32_PIN_PA11, STM32F1_PINMUX_FUNC_PA11_USB_DM},
+	{STM32_PIN_PA12, STM32F1_PINMUX_FUNC_PA12_USB_DP},
+#endif /* USB_DC_STM32 */
 };
 
 static int pinmux_stm32_init(struct device *port)
diff --git a/drivers/pinmux/stm32/pinmux_stm32f1.h b/drivers/pinmux/stm32/pinmux_stm32f1.h
index bf6c0dd74e6..7bd740c5805 100644
--- a/drivers/pinmux/stm32/pinmux_stm32f1.h
+++ b/drivers/pinmux/stm32/pinmux_stm32f1.h
@@ -27,6 +27,9 @@
 #define STM32F1_PINMUX_FUNC_PA7_SPI1_MASTER_MOSI     STM32_PIN_SPI_MASTER_MOSI
 #define STM32F1_PINMUX_FUNC_PA7_SPI1_SLAVE_MOSI      STM32_PIN_SPI_SLAVE_MOSI
 
+#define STM32F1_PINMUX_FUNC_PA11_USB_DM		     STM32_PIN_USB
+#define STM32F1_PINMUX_FUNC_PA12_USB_DP		     STM32_PIN_USB
+
 #define STM32F1_PINMUX_FUNC_PD5_USART2_TX	     STM32_PIN_USART_TX
 #define STM32F1_PINMUX_FUNC_PD6_USART2_RX	     STM32_PIN_USART_RX
 
diff --git a/drivers/usb/device/usb_dc_stm32.c b/drivers/usb/device/usb_dc_stm32.c
index 1c8ca03fed1..b6090193a23 100644
--- a/drivers/usb/device/usb_dc_stm32.c
+++ b/drivers/usb/device/usb_dc_stm32.c
@@ -67,6 +67,14 @@
 #define EP_TYPE_INTR PCD_EP_TYPE_INTR
 #endif
 
+#ifndef CONFIG_USB_NUM_IN_ENDPOINTS
+#define CONFIG_USB_NUM_IN_ENDPOINTS 0
+#endif /* CONFIG_USB_NUM_IN_ENDPOINTS */
+
+#ifndef CONFIG_USB_NUM_OUT_ENDPOINTS
+#define CONFIG_USB_NUM_OUT_ENDPOINTS 0
+#endif /* CONFIG_USB_NUM_OUT_ENDPOINTS */
+
 /* Total in ep number = bidirectional ep number + in ep number */
 #define NUM_IN_EP (CONFIG_USB_NUM_BIDIR_ENDPOINTS + \
 		   CONFIG_USB_NUM_IN_ENDPOINTS)
diff --git a/dts/arm/st/stm32f103Xb.dtsi b/dts/arm/st/stm32f103Xb.dtsi
index c2548525ffd..38d0b437cc5 100644
--- a/dts/arm/st/stm32f103Xb.dtsi
+++ b/dts/arm/st/stm32f103Xb.dtsi
@@ -23,5 +23,16 @@
 			status = "disabled";
 			label = "SPI_2";
 		};
+
+		usb: usb@40005c00 {
+			compatible = "st,stm32-usb";
+			reg = <0x40005c00 0x400>;
+			interrupts = <20 0>;
+			interrupt-names = "usb";
+			num-bidir-endpoints = <8>;
+			ram-size = <512>;
+			status = "disabled";
+			label= "USB";
+		};
 	};
 };
diff --git a/include/dt-bindings/pinctrl/stm32-pinctrlf1.h b/include/dt-bindings/pinctrl/stm32-pinctrlf1.h
index 8fdf44e10a0..b6a7a6b175d 100644
--- a/include/dt-bindings/pinctrl/stm32-pinctrlf1.h
+++ b/include/dt-bindings/pinctrl/stm32-pinctrlf1.h
@@ -105,5 +105,6 @@
 /* Hardware master NSS output enabled */
 #define STM32_PIN_SPI_MASTER_NSS_OE	(STM32_MODE_OUTPUT | STM32_CNF_ALT_FUNC | STM32_CNF_PUSH_PULL)
 #define STM32_PIN_SPI_SLAVE_NSS		(STM32_MODE_INPUT | STM32_CNF_IN_FLOAT)
+#define STM32_PIN_USB			(STM32_MODE_INPUT | STM32_CNF_IN_PUPD)
 
 #endif	/* _STM32_PINCTRLF1_H_ */