diff --git a/boards/nucleo-f303ze/Kconfig b/boards/nucleo-f303ze/Kconfig
index b5eb702e31..125a955e13 100644
--- a/boards/nucleo-f303ze/Kconfig
+++ b/boards/nucleo-f303ze/Kconfig
@@ -21,6 +21,7 @@ config BOARD_NUCLEO_F303ZE
     select HAS_PERIPH_SPI
     select HAS_PERIPH_TIMER
     select HAS_PERIPH_UART
+    select HAS_PERIPH_USBDEV
 
     # Put other features for this board (in alphabetical order)
     select HAS_RIOTBOOT
diff --git a/boards/nucleo-f303ze/Makefile.features b/boards/nucleo-f303ze/Makefile.features
index 87a9ea6c2b..44999e4d3b 100644
--- a/boards/nucleo-f303ze/Makefile.features
+++ b/boards/nucleo-f303ze/Makefile.features
@@ -8,6 +8,7 @@ FEATURES_PROVIDED += periph_rtc
 FEATURES_PROVIDED += periph_spi
 FEATURES_PROVIDED += periph_timer
 FEATURES_PROVIDED += periph_uart
+FEATURES_PROVIDED += periph_usbdev
 
 # Put other features for this board (in alphabetical order)
 FEATURES_PROVIDED += riotboot
diff --git a/boards/nucleo-f303ze/include/periph_conf.h b/boards/nucleo-f303ze/include/periph_conf.h
index fd5e0fc7aa..0ed481ba99 100644
--- a/boards/nucleo-f303ze/include/periph_conf.h
+++ b/boards/nucleo-f303ze/include/periph_conf.h
@@ -173,6 +173,32 @@ static const spi_conf_t spi_config[] = {
 #define SPI_NUMOF           ARRAY_SIZE(spi_config)
 /** @} */
 
+/**
+ * @brief USB device FS configuration
+ */
+static const stm32_usbdev_fs_config_t stm32_usbdev_fs_config[] = {
+    {
+        .base_addr  = (uintptr_t)USB,
+        .rcc_mask   = RCC_APB1ENR_USBEN,
+        .irqn       = USB_LP_CAN_RX0_IRQn,
+        .apb        = APB1,
+        .dm         = GPIO_PIN(PORT_A, 11),
+        .dp         = GPIO_PIN(PORT_A, 12),
+        .af         = GPIO_AF14,
+        .disconn    = GPIO_PIN(PORT_G, 6),
+    },
+};
+
+/**
+ * @brief Interrupt function name mapping
+ */
+#define USBDEV_ISR              isr_usb_lp_can_rx0
+
+/**
+ * @brief Number of available USB device FS peripherals
+ */
+#define USBDEV_NUMOF            ARRAY_SIZE(stm32_usbdev_fs_config)
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/boards/p-nucleo-wb55/include/periph_conf.h b/boards/p-nucleo-wb55/include/periph_conf.h
index aa71095987..f181852795 100644
--- a/boards/p-nucleo-wb55/include/periph_conf.h
+++ b/boards/p-nucleo-wb55/include/periph_conf.h
@@ -116,6 +116,7 @@ static const stm32_usbdev_fs_config_t stm32_usbdev_fs_config[] = {
         .dm         = GPIO_PIN(PORT_A, 11),
         .dp         = GPIO_PIN(PORT_A, 12),
         .af         = GPIO_AF10,
+        .disconn    = GPIO_UNDEF,
     },
 };
 
diff --git a/cpu/stm32/Makefile.dep b/cpu/stm32/Makefile.dep
index 614af2857f..23493f47ab 100644
--- a/cpu/stm32/Makefile.dep
+++ b/cpu/stm32/Makefile.dep
@@ -4,7 +4,7 @@
 USEMODULE += periph stm32_clk stm32_vectors
 
 ifneq (,$(filter periph_usbdev,$(FEATURES_USED)))
-  ifneq (wb,$(CPU_FAM))
+  ifeq (,$(filter f3 wb,$(CPU_FAM)))
     USEMODULE += usbdev_synopsys_dwc2
   endif
   USEMODULE += ztimer
diff --git a/cpu/stm32/include/periph/cpu_usbdev.h b/cpu/stm32/include/periph/cpu_usbdev.h
index 92d859f802..bd978c9422 100644
--- a/cpu/stm32/include/periph/cpu_usbdev.h
+++ b/cpu/stm32/include/periph/cpu_usbdev.h
@@ -50,6 +50,7 @@ typedef struct {
     gpio_t dm;                      /**< Data- gpio */
     gpio_t dp;                      /**< Data+ gpio */
     gpio_af_t af;                   /**< Alternative function */
+    gpio_t disconn;                 /**< GPIO if used for USB disconnect */
 } stm32_usbdev_fs_config_t;
 
 #ifdef __cplusplus
diff --git a/cpu/stm32/periph/Makefile b/cpu/stm32/periph/Makefile
index 3d1366b153..23fa83b26d 100644
--- a/cpu/stm32/periph/Makefile
+++ b/cpu/stm32/periph/Makefile
@@ -51,7 +51,7 @@ endif
 
 # Select the correct implementation for `periph_usbdev`
 ifneq (,$(filter periph_usbdev,$(USEMODULE)))
-  ifeq (wb,$(CPU_FAM))
+  ifneq (,$(filter f3 wb,$(CPU_FAM)))
     SRC += usbdev_fs.c
   endif
 endif
diff --git a/cpu/stm32/periph/usbdev_fs.c b/cpu/stm32/periph/usbdev_fs.c
index 38477a5fc0..032c6bc78d 100644
--- a/cpu/stm32/periph/usbdev_fs.c
+++ b/cpu/stm32/periph/usbdev_fs.c
@@ -135,20 +135,30 @@ static void _enable_usb_clk(void)
 
 #if defined(RCC_APB1SMENR_USBSMEN)
     RCC->APB1SMENR |= RCC_APB1SMENR_USBSMEN;
-#elif defined(RCC_APB1SMENR_USBSMEN)
+#elif defined(RCC_APB1SMENR1_USBSMEN)
     RCC->APB1SMENR1 |= RCC_APB1SMENR1_USBSMEN;
 #endif
+
+#if defined(CRS_CR_AUTOTRIMEN) && defined(CRS_CR_CEN)
     /* Enable CRS with auto trim enabled */
     CRS->CR |=  (CRS_CR_AUTOTRIMEN |  CRS_CR_CEN);
+#endif
 }
 
 static void _enable_gpio(const stm32_usbdev_fs_config_t *conf)
 {
-    gpio_init(conf->dp, GPIO_IN);
-    gpio_init(conf->dm, GPIO_IN);
-    /* Configure AF for the pins */
-    gpio_init_af(conf->dp, conf->af);
-    gpio_init_af(conf->dm, conf->af);
+    if (conf->af != GPIO_AF_UNDEF) {
+        /* Configure AF for the pins */
+        gpio_init_af(conf->dp, conf->af);
+        gpio_init_af(conf->dm, conf->af);
+    }
+
+    if (conf->disconn != GPIO_UNDEF) {
+        /* In case the MCU has no internal D+ pullup, a GPIO is used to
+         * connect/disconnect from USB bus */
+        gpio_init(conf->disconn, GPIO_OUT);
+        gpio_clear(conf->disconn);
+    }
 }
 
 static void _set_ep_in_status(uint16_t *val, uint16_t mask)
@@ -179,28 +189,36 @@ static void _set_ep_out_status(uint16_t *val, uint16_t mask)
 
 static inline void _usb_attach(stm32_usbdev_fs_t *usbdev)
 {
+    const stm32_usbdev_fs_config_t *conf = usbdev->config;
+
     /* Some ST USB IP doesn't have this feature */
 #ifdef USB_BCDR_DPPU
-    const stm32_usbdev_fs_config_t *conf = usbdev->config;
     /* Enable DP pullup to signal connection */
     _global_regs(conf)->BCDR |= USB_BCDR_DPPU;
-    while (!(CRS->ISR & CRS_ISR_ESYNCF));
+    while (!(CRS->ISR & CRS_ISR_ESYNCF)) {}
 #else
-    (void)usbdev;
+    /* If configuration uses a GPIO for USB connect/disconnect */
+    if (conf->disconn != GPIO_UNDEF) {
+        gpio_set(conf->disconn);
+    }
 #endif /* USB_BCDR_DPPU */
 }
 
 static inline void _usb_detach(stm32_usbdev_fs_t *usbdev)
 {
+    const stm32_usbdev_fs_config_t *conf = usbdev->config;
+
     /* Some ST USB IP doesn't have this feature */
 #ifdef USB_BCDR_DPPU
-    const stm32_usbdev_fs_config_t *conf = usbdev->config;
     DEBUG_PUTS("usbdev_fs: Detaching from host");
 
     /* Disable DP pullup to signal disconnection */
     CLRBIT(_global_regs(conf)->BCDR, USB_BCDR_DPPU);
 #else
-    (void)usbdev;
+    /* If configuration uses a GPIO for USB connect/disconnect */
+    if (conf->disconn != GPIO_UNDEF) {
+        gpio_clear(conf->disconn);
+    }
 #endif
 }
 
@@ -261,10 +279,12 @@ static void _usbdev_init(usbdev_t *dev)
     /* Configure GPIOs */
     _enable_gpio(conf);
 
-    /* Reset USB IP */
-    _global_regs(conf)->CNTR = USB_CNTR_FRES;
+    /* Reset and power down USB IP */
+    _global_regs(conf)->CNTR = USB_CNTR_FRES | USB_CNTR_PDWN;
+    /* Clear power down */
+    _global_regs(conf)->CNTR &= ~USB_CNTR_PDWN;
     /* Clear reset */
-    _global_regs(conf)->CNTR = 0;
+    _global_regs(conf)->CNTR &= ~USB_CNTR_FRES;
     /* Clear interrupt register */
     _global_regs(conf)->ISTR = 0x0000;
     /* Set BTABLE at start of USB SRAM */
@@ -273,6 +293,12 @@ static void _usbdev_init(usbdev_t *dev)
     _global_regs(conf)->DADDR = USB_DADDR_EF;
     /* Unmask the interrupt in the NVIC */
     _enable_irq();
+
+    /* Disable remapping of USB IRQs if remapping defined */
+#ifdef SYSCFG_CFGR1_USB_IT_RMP
+    SYSCFG->CFGR1 &= ~SYSCFG_CFGR1_USB_IT_RMP;
+#endif
+
     /* Enable USB IRQ */
     NVIC_EnableIRQ(conf->irqn);
     /* fill USB SRAM with zeroes */