diff --git a/arch/arm/soc/st_stm32/stm32f3/dts.fixup b/arch/arm/soc/st_stm32/stm32f3/dts.fixup
index 31d3263128e..5141ace7538 100644
--- a/arch/arm/soc/st_stm32/stm32f3/dts.fixup
+++ b/arch/arm/soc/st_stm32/stm32f3/dts.fixup
@@ -53,4 +53,12 @@
 #define FLASH_DEV_BASE_ADDRESS		        ST_STM32F3_FLASH_CONTROLLER_40022000_BASE_ADDRESS_0
 #define FLASH_DEV_NAME			        ST_STM32F3_FLASH_CONTROLLER_40022000_LABEL
 
+#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_NUM_IN_ENDPOINTS		ST_STM32_USB_40005C00_NUM_IN_ENDPOINTS
+#define CONFIG_USB_NUM_OUT_ENDPOINTS		ST_STM32_USB_40005C00_NUM_OUT_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/stm32f3/soc.c b/arch/arm/soc/st_stm32/stm32f3/soc.c
index 56118f63b5a..2bdff8fc33f 100644
--- a/arch/arm/soc/st_stm32/stm32f3/soc.c
+++ b/arch/arm/soc/st_stm32/stm32f3/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/stm32f3_disco/doc/stm32f3_disco.rst b/boards/arm/stm32f3_disco/doc/stm32f3_disco.rst
index a7a2b14b260..f75bcc079b9 100644
--- a/boards/arm/stm32f3_disco/doc/stm32f3_disco.rst
+++ b/boards/arm/stm32f3_disco/doc/stm32f3_disco.rst
@@ -92,6 +92,8 @@ features:
 +-----------+------------+-------------------------------------+
 | SPI       | on-chip    | spi                                 |
 +-----------+------------+-------------------------------------+
+| USB       | on-chip    | USB device                          |
++-----------+------------+-------------------------------------+
 
 Other hardware features are not yet supported on Zephyr porting.
 
@@ -126,6 +128,8 @@ Default Zephyr Peripheral Mapping:
 - SPI2_SCK : PB13
 - SPI2_MISO : PB14
 - SPI2_MOSI : PB15
+- USB_DM : PA11
+- USB_DP : PA12
 - USER_PB : PA0
 - LD3 : PE9
 - LD4 : PE8
@@ -156,6 +160,11 @@ STM32F3DISCOVERY has up to 2 I2Cs. I2C1 is connected to the LSM303DLHC and is
 an ultra-compact low-power system-in-package featuring a 3D digital linear
 acceleration sensor and a 3D digital magnetic sensor.
 
+USB
+===
+STM32F3DISCOVERY has a USB 2.0 full-speed device interface available through
+its mini USB connector (USB USER).
+
 Programming and Debugging
 *************************
 
diff --git a/boards/arm/stm32f3_disco/pinmux.c b/boards/arm/stm32f3_disco/pinmux.c
index 1e2e58286cf..2ea6fcf16b0 100644
--- a/boards/arm/stm32f3_disco/pinmux.c
+++ b/boards/arm/stm32f3_disco/pinmux.c
@@ -42,6 +42,10 @@ static const struct pin_config pinconf[] = {
 	{STM32_PIN_PB14, STM32F3_PINMUX_FUNC_PB14_SPI2_MISO},
 	{STM32_PIN_PB15, STM32F3_PINMUX_FUNC_PB15_SPI2_MOSI},
 #endif /* CONFIG_SPI_2 */
+#ifdef CONFIG_USB_DC_STM32
+	{STM32_PIN_PA11, STM32F3_PINMUX_FUNC_PA11_USB_DM},
+	{STM32_PIN_PA12, STM32F3_PINMUX_FUNC_PA12_USB_DP},
+#endif	/* CONFIG_USB_DC_STM */
 };
 
 static int pinmux_stm32_init(struct device *port)
diff --git a/boards/arm/stm32f3_disco/stm32f3_disco.dts b/boards/arm/stm32f3_disco/stm32f3_disco.dts
index 875b31653db..915c0a3926d 100644
--- a/boards/arm/stm32f3_disco/stm32f3_disco.dts
+++ b/boards/arm/stm32f3_disco/stm32f3_disco.dts
@@ -98,3 +98,7 @@
 &spi2 {
 	status = "ok";
 };
+
+&usb {
+	status = "ok";
+};
diff --git a/drivers/pinmux/stm32/pinmux_stm32f3.h b/drivers/pinmux/stm32/pinmux_stm32f3.h
index 0fe223b2908..87d8747fc10 100644
--- a/drivers/pinmux/stm32/pinmux_stm32f3.h
+++ b/drivers/pinmux/stm32/pinmux_stm32f3.h
@@ -76,6 +76,10 @@
 	(STM32_PINMUX_ALT_FUNC_5 | STM32_PUSHPULL_NOPULL)
 #define STM32F3_PINMUX_FUNC_PA7_SPI1_MOSI   \
 	(STM32_PINMUX_ALT_FUNC_5 | STM32_PUSHPULL_NOPULL)
+#define STM32F3_PINMUX_FUNC_PA11_USB_DM	    \
+	(STM32_PINMUX_ALT_FUNC_14 | STM32_PUSHPULL_NOPULL)
+#define STM32F3_PINMUX_FUNC_PA12_USB_DP     \
+	(STM32_PINMUX_ALT_FUNC_14 | STM32_PUSHPULL_NOPULL)
 
 #define STM32F3_PINMUX_FUNC_PB8_I2C1_SCL    \
 	(STM32_PINMUX_ALT_FUNC_4 | STM32_OPENDRAIN_PULLUP)
diff --git a/dts/arm/st/stm32f3.dtsi b/dts/arm/st/stm32f3.dtsi
index 8211cdc0c0c..d6784477f51 100644
--- a/dts/arm/st/stm32f3.dtsi
+++ b/dts/arm/st/stm32f3.dtsi
@@ -154,6 +154,19 @@
 			status = "disabled";
 			label = "SPI_1";
 		};
+
+		usb: usb@40005c00 {
+			compatible = "st,stm32-usb";
+			reg = <0x40005c00 0x400>;
+			interrupts = <20 0>;
+			interrupt-names = "usb";
+			num-bidir-endpoints = <8>;
+			num-in-endpoints = <0>;
+			num-out-endpoints = <0>;
+			ram-size = <512>;
+			status = "disabled";
+			label= "USB";
+		};
 	};
 };