diff --git a/modules/hal_nordic/nrfx/Kconfig b/modules/hal_nordic/nrfx/Kconfig
index a681d64d530..3a7517d8656 100644
--- a/modules/hal_nordic/nrfx/Kconfig
+++ b/modules/hal_nordic/nrfx/Kconfig
@@ -381,6 +381,15 @@ config NRFX_USBD
 	bool "USBD driver"
 	depends on $(dt_has_compat,$(DT_COMPAT_NORDIC_NRF_USBD))
 
+config NRFX_USBD_ISO_IN_ZLP
+	bool "Send ZLP on ISO IN when not ready"
+	depends on NRFX_USBD
+	default y
+	help
+	  Controls the response of the ISO IN endpoint to an IN token when no
+	  data is ready to be sent. When enabled, ZLP is sent when no data is
+	  ready. When disabled, no response is sent (bus timeout occurs).
+
 config NRFX_USBREG
 	bool "USBREG driver"
 	depends on $(dt_has_compat,$(DT_COMPAT_NORDIC_NRF_USBREG))
diff --git a/modules/hal_nordic/nrfx/nrfx_config.h b/modules/hal_nordic/nrfx/nrfx_config.h
index 511b4db4570..049d5c68717 100644
--- a/modules/hal_nordic/nrfx/nrfx_config.h
+++ b/modules/hal_nordic/nrfx/nrfx_config.h
@@ -364,6 +364,10 @@
 #define NRFX_USBD_ENABLED 1
 #endif
 
+#ifdef CONFIG_NRFX_USBD_ISO_IN_ZLP
+#define NRFX_USBD_CONFIG_ISO_IN_ZLP 1
+#endif
+
 #ifdef CONFIG_NRFX_USBREG
 #define NRFX_USBREG_ENABLED 1
 #endif