diff --git a/cpu/nrf52/periph/usbdev.c b/cpu/nrf52/periph/usbdev.c
index c639e2f50f..5e90af67f2 100644
--- a/cpu/nrf52/periph/usbdev.c
+++ b/cpu/nrf52/periph/usbdev.c
@@ -45,7 +45,9 @@ static int _get(usbdev_t *usbdev, usbopt_t opt, void *value, size_t max_len);
 static int _set(usbdev_t *usbdev, usbopt_t opt, const void *value, size_t value_len);
 static usbdev_ep_t *_new_ep(usbdev_t *dev, usb_ep_type_t type, usb_ep_dir_t dir, size_t len);
 static void _esr(usbdev_t *usbdev);
+static void _ep0_stall(usbdev_t *usbdev);
 static void _ep_init(usbdev_ep_t *ep);
+static void _ep_stall(usbdev_ep_t *ep, bool enable);
 static int _ep_get(usbdev_ep_t *ep, usbopt_ep_t opt, void *value, size_t max_len);
 static int _ep_set(usbdev_ep_t *ep, usbopt_ep_t opt, const void *value, size_t value_len);
 static int _ep_xmit(usbdev_ep_t *ep, uint8_t *buf, size_t len);
@@ -57,7 +59,9 @@ static const usbdev_driver_t _driver = {
     .get = _get,
     .set = _set,
     .esr = _esr,
+    .ep0_stall = _ep0_stall,
     .ep_init = _ep_init,
+    .ep_stall = _ep_stall,
     .ep_get = _ep_get,
     .ep_set = _ep_set,
     .ep_esr = _ep_esr,
@@ -177,6 +181,8 @@ static void _ep_disable(usbdev_ep_t *ep)
 
 static void _ep_set_stall(usbdev_ep_t *ep, usbopt_enable_t enable)
 {
+    assert(ep->num != 0);
+
     /* TODO: validate size */
     nrfusb_t *usbdev = (nrfusb_t *)ep->dev;
     uint32_t val = (ep->num & USBD_EPSTALL_EP_Msk) |
@@ -186,6 +192,12 @@ static void _ep_set_stall(usbdev_ep_t *ep, usbopt_enable_t enable)
     usbdev->device->EPSTALL = val;
 }
 
+static void _ep_stall(usbdev_ep_t *ep, bool enable)
+{
+    /* quick wrapper */
+    _ep_set_stall(ep, (usbopt_enable_t)enable);
+}
+
 static usbopt_enable_t _ep_get_stall(usbdev_ep_t *ep)
 {
     /* TODO: validate size */
@@ -390,6 +402,13 @@ static void _ep_disable_irq(usbdev_ep_t *ep)
     }
 }
 
+static void _ep0_stall(usbdev_t *dev)
+{
+    nrfusb_t *usbdev = (nrfusb_t*)dev;
+    /* Stalls both OUT and IN */
+    usbdev->device->TASKS_EP0STALL = 1;
+}
+
 static void _ep_init(usbdev_ep_t *ep)
 {
     nrfusb_t *usbdev = (nrfusb_t*)ep->dev;
diff --git a/cpu/sam0_common/periph/usbdev.c b/cpu/sam0_common/periph/usbdev.c
index 1e814b90b8..aa21ad4986 100644
--- a/cpu/sam0_common/periph/usbdev.c
+++ b/cpu/sam0_common/periph/usbdev.c
@@ -584,12 +584,23 @@ static inline void _enable_ep_stall_in(UsbDeviceEndpoint *ep_reg)
 
 static inline void _disable_ep_stall_out(UsbDeviceEndpoint *ep_reg)
 {
-    ep_reg->EPSTATUSCLR.reg = USB_DEVICE_EPSTATUSCLR_STALLRQ0;
+    ep_reg->EPSTATUSCLR.reg = USB_DEVICE_EPSTATUSCLR_STALLRQ0 |
+                              USB_DEVICE_EPSTATUSCLR_DTGLOUT;
 }
 
 static inline void _disable_ep_stall_in(UsbDeviceEndpoint *ep_reg)
 {
-    ep_reg->EPSTATUSCLR.reg = USB_DEVICE_EPSTATUSCLR_STALLRQ1;
+    ep_reg->EPSTATUSCLR.reg = USB_DEVICE_EPSTATUSCLR_STALLRQ1 |
+                              USB_DEVICE_EPSTATUSCLR_DTGLIN;
+}
+
+static void _usbdev_ep0_stall(usbdev_t *usbdev)
+{
+    sam0_common_usb_t *sam_usbdev = (sam0_common_usb_t *)usbdev;
+    UsbDeviceEndpoint *ep0_reg = &sam_usbdev->config->device->DeviceEndpoint[0];
+
+    ep0_reg->EPSTATUSSET.reg = USB_DEVICE_EPSTATUSSET_STALLRQ1 |
+                               USB_DEVICE_EPSTATUSSET_STALLRQ0;
 }
 
 static void _ep_set_stall(usbdev_ep_t *ep, usbopt_enable_t enable)
@@ -625,6 +636,11 @@ usbopt_enable_t _ep_get_stall(usbdev_ep_t *ep)
 
 }
 
+static void _usbdev_ep_stall(usbdev_ep_t *ep, bool enable)
+{
+    _ep_set_stall(ep, enable);
+}
+
 static void _usbdev_ep_init(usbdev_ep_t *ep)
 {
     _enable_ep_irq(ep);
@@ -773,7 +789,9 @@ const usbdev_driver_t driver = {
     .get = _usbdev_get,
     .set = _usbdev_set,
     .esr = _usbdev_esr,
+    .ep0_stall = _usbdev_ep0_stall,
     .ep_init = _usbdev_ep_init,
+    .ep_stall = _usbdev_ep_stall,
     .ep_get = _usbdev_ep_get,
     .ep_set = _usbdev_ep_set,
     .ep_esr = _usbdev_ep_esr,
diff --git a/cpu/stm32/periph/usbdev_fs.c b/cpu/stm32/periph/usbdev_fs.c
index 9d6478d4d3..5f94d520a1 100644
--- a/cpu/stm32/periph/usbdev_fs.c
+++ b/cpu/stm32/periph/usbdev_fs.c
@@ -665,6 +665,18 @@ static void _ep_set_stall(usbdev_ep_t *ep, usbopt_enable_t enable)
     EP_REG(ep->num) = reg;
 }
 
+static void _usbdev_ep0_stall(usbdev_t *usbdev)
+{
+    (void)usbdev;
+    _ep_set_stall(&_ep_in[0], true);
+    _ep_set_stall(&_ep_out[0], true);
+}
+
+static void _usbdev_ep_stall(usbdev_ep_t *ep, bool enable)
+{
+    _ep_set_stall(ep, enable);
+}
+
 static int _usbdev_ep_set(usbdev_ep_t *ep, usbopt_ep_t opt,
                           const void *value, size_t value_len)
 {
@@ -773,7 +785,9 @@ const usbdev_driver_t driver = {
     .get = _usbdev_get,
     .set = _usbdev_set,
     .esr = _usbdev_esr,
+    .ep0_stall = _usbdev_ep0_stall,
     .ep_init = _usbdev_ep_init,
+    .ep_stall = _usbdev_ep_stall,
     .ep_get = _usbdev_ep_get,
     .ep_set = _usbdev_ep_set,
     .ep_esr = _usbdev_ep_esr,
diff --git a/drivers/include/periph/usbdev.h b/drivers/include/periph/usbdev.h
index 0d947ea9f2..b10addf20b 100644
--- a/drivers/include/periph/usbdev.h
+++ b/drivers/include/periph/usbdev.h
@@ -75,6 +75,7 @@
 #ifndef PERIPH_USBDEV_H
 #define PERIPH_USBDEV_H
 
+#include <stdbool.h>
 #include <stdint.h>
 #include <stddef.h>
 
@@ -330,6 +331,15 @@ typedef struct usbdev_driver {
      */
     void (*esr)(usbdev_t *dev);
 
+    /**
+     * @brief Stall both OUT and IN packets on endpoint 0 until a setup packet
+     * is received.
+     *
+     * @note The stall condition should be cleared automatically either by
+     * hardware or by the usbdev implementation after receiving a setup packet.
+     */
+    void (*ep0_stall)(usbdev_t *usbdev);
+
     /**
      * @brief Initialize the USB endpoint
      *
@@ -340,6 +350,22 @@ typedef struct usbdev_driver {
      */
     void (*ep_init)(usbdev_ep_t *ep);
 
+    /**
+     * @brief Enable or disable the stall condition on the USB endpoint
+     *
+     * After clearing the stall condition on the endpoint, the usb peripheral
+     * must reinitialize the data toggle to DATA0.
+     *
+     * @note For enabling stall on endpoint 0 @ref usbdev_driver_t::ep0_stall
+     * must be used.
+     *
+     * @pre (ep->num != 0)
+     *
+     * @param[in]   ep      USB endpoint descriptor
+     * @param[in]   enable  True to set stall, false to disable stall
+     */
+    void (*ep_stall)(usbdev_ep_t *ep, bool enable);
+
     /**
      * @brief   Get an option value from a given usb device endpoint
      *
@@ -509,6 +535,25 @@ static inline void usbdev_esr(usbdev_t *dev)
     dev->driver->esr(dev);
 }
 
+/**
+ * @brief Stall both OUT and IN packets on endpoint 0 until a setup packet
+ * is received.
+ *
+ * @see @ref usbdev_driver_t::ep0_stall
+ *
+ * @note The stall condition is automatically cleared after receiving a
+ * setup packet.
+ *
+ * @pre `(dev != NULL)`
+ *
+ * @param[in]   dev     USB device descriptor
+ */
+static inline void usbdev_ep0_stall(usbdev_t *dev)
+{
+    assert(dev);
+    dev->driver->ep0_stall(dev);
+}
+
 /**
  * @brief Initialize the USB endpoint
  *
@@ -526,6 +571,26 @@ static inline void usbdev_ep_init(usbdev_ep_t *ep)
     ep->dev->driver->ep_init(ep);
 }
 
+/**
+ * @brief Enable or disable the stall condition on the USB endpoint
+ *
+ * @note For enabling stall on endpoint 0 @ref usbdev_driver_t::ep0_stall
+ * must be used.
+ *
+ * @see @ref usbdev_driver_t::ep_stall
+ *
+ * @pre (ep->num != 0)
+ *
+ * @param[in]   ep      USB endpoint descriptor
+ * @param[in]   enable  True to set stall, false to disable stall
+ */
+static inline void usbdev_ep_stall(usbdev_ep_t *ep, bool enable)
+{
+    assert(ep);
+    assert(ep->dev);
+    ep->dev->driver->ep_stall(ep, enable);
+}
+
 /**
  * @brief   Get an option value from a given usb device endpoint
  *
diff --git a/drivers/usbdev_synopsys_dwc2/usbdev_synopsys_dwc2.c b/drivers/usbdev_synopsys_dwc2/usbdev_synopsys_dwc2.c
index 0d1140f3ee..faa53e8b48 100644
--- a/drivers/usbdev_synopsys_dwc2/usbdev_synopsys_dwc2.c
+++ b/drivers/usbdev_synopsys_dwc2/usbdev_synopsys_dwc2.c
@@ -330,9 +330,10 @@ static uint32_t _ep0_size(size_t size)
 }
 
 /**
- * @brief Disables an IN type endpoint
+ * @brief Disables transfers on an IN type endpoint.
  *
- * Endpoint is only deactivated if it was activated
+ * Endpoint is only deactivated if it was activated.
+ * The endpoint will still respond to traffic, but any transfers will be aborted
  */
 static void _ep_in_disable(const dwc2_usb_otg_fshs_config_t *conf, size_t num)
 {
@@ -352,9 +353,10 @@ static void _ep_in_disable(const dwc2_usb_otg_fshs_config_t *conf, size_t num)
 }
 
 /**
- * @brief Disables an OUT type endpoint
+ * @brief Disables transfers on an OUT type endpoint.
  *
  * Endpoint is only deactivated if it was activated
+ * The endpoint will still respond to traffic, but any transfers will be aborted
  */
 static void _ep_out_disable(const dwc2_usb_otg_fshs_config_t *conf, size_t num)
 {
@@ -1148,25 +1150,58 @@ static int _usbdev_ep_get(usbdev_ep_t *ep, usbopt_ep_t opt,
     return res;
 }
 
+static void _usbdev_ep0_stall(usbdev_t *usbdev)
+{
+    dwc2_usb_otg_fshs_t *st_usbdev = (dwc2_usb_otg_fshs_t *)usbdev;
+    const dwc2_usb_otg_fshs_config_t *conf = st_usbdev->config;
+    /* Stall both directions, cleared automatically on SETUP received */
+    _in_regs(conf, 0)->DIEPCTL |= USB_OTG_DIEPCTL_STALL;
+    _out_regs(conf, 0)->DOEPCTL |= USB_OTG_DOEPCTL_STALL;
+}
+
 static void _ep_set_stall(usbdev_ep_t *ep, bool enable)
 {
+    (void)enable;
+
+    assert(ep->num != 0);
     dwc2_usb_otg_fshs_t *usbdev = (dwc2_usb_otg_fshs_t *)ep->dev;
     const dwc2_usb_otg_fshs_config_t *conf = usbdev->config;
 
-    (void)enable;
-
-    if (ep->dir == USB_EP_DIR_IN) {
-        /* Disable first */
-        _ep_in_disable(conf, ep->num);
-        _in_regs(conf, ep->num)->DIEPCTL |= USB_OTG_DIEPCTL_STALL;
+    if (enable) {
+        if (ep->dir == USB_EP_DIR_IN) {
+            /* Disable first */
+            _ep_in_disable(conf, ep->num);
+            _in_regs(conf, ep->num)->DIEPCTL |= USB_OTG_DIEPCTL_STALL;
+        }
+        else {
+            /* Disable first */
+            _ep_out_disable(conf, ep->num);
+            _out_regs(conf, ep->num)->DOEPCTL |= USB_OTG_DOEPCTL_STALL;
+        }
     }
     else {
-        /* Disable first */
-        _ep_out_disable(conf, ep->num);
-        _out_regs(conf, ep->num)->DOEPCTL |= USB_OTG_DOEPCTL_STALL;
+        if (ep->dir == USB_EP_DIR_IN) {
+            /* Clear stall and set to DATA0 */
+            uint32_t diepctl = _in_regs(conf, ep->num)->DIEPCTL;
+            diepctl &= ~(USB_OTG_DIEPCTL_STALL);
+            diepctl |= USB_OTG_DIEPCTL_SD0PID_SEVNFRM;
+            _in_regs(conf, ep->num)->DIEPCTL = diepctl;
+        }
+        else {
+            /* Clear stall and set to DATA0 */
+            uint32_t doepctl = _out_regs(conf, ep->num)->DOEPCTL;
+            doepctl &= ~(USB_OTG_DIEPCTL_STALL);
+            doepctl |= USB_OTG_DIEPCTL_SD0PID_SEVNFRM;
+            _out_regs(conf, ep->num)->DOEPCTL = doepctl;
+        }
     }
 }
 
+static void _usbdev_ep_stall(usbdev_ep_t *ep, bool enable)
+{
+    _ep_set_stall(ep, enable);
+}
+
 static int _usbdev_ep_set(usbdev_ep_t *ep, usbopt_ep_t opt,
                           const void *value, size_t value_len)
 {
@@ -1492,7 +1527,9 @@ const usbdev_driver_t driver = {
     .get = _usbdev_get,
     .set = _usbdev_set,
     .esr = _usbdev_esr,
+    .ep0_stall = _usbdev_ep0_stall,
     .ep_init = _usbdev_ep_init,
+    .ep_stall = _usbdev_ep_stall,
     .ep_get = _usbdev_ep_get,
     .ep_set = _usbdev_ep_set,
     .ep_esr = _usbdev_ep_esr,
diff --git a/sys/usb/usbus/usbus_control.c b/sys/usb/usbus/usbus_control.c
index d86f9fae44..96290f12d1 100644
--- a/sys/usb/usbus/usbus_control.c
+++ b/sys/usb/usbus/usbus_control.c
@@ -277,10 +277,8 @@ static void _recv_setup(usbus_t *usbus, usbus_control_handler_t *handler)
         }
     }
     if (res < 0) {
-        /* Signal stall to indicate unsupported (USB 2.0 spec 9.6.2 */
-        static const usbopt_enable_t enable = USBOPT_ENABLE;
-        usbdev_ep_set(handler->in, USBOPT_EP_STALL, &enable,
-                      sizeof(usbopt_enable_t));
+        /* Signal stall to indicate unsupported (USB 2.0 spec 9.6.2) */
+        usbdev_ep0_stall(usbus->dev);
         handler->control_request_state = USBUS_CONTROL_REQUEST_STATE_READY;
     }
     else if (res) {