diff --git a/sys/include/usb/usbus.h b/sys/include/usb/usbus.h
index 090f969d9c..9ce0563ccc 100644
--- a/sys/include/usb/usbus.h
+++ b/sys/include/usb/usbus.h
@@ -427,6 +427,24 @@ uint16_t usbus_add_string_descriptor(usbus_t *usbus, usbus_string_t *desc,
  */
 uint16_t usbus_add_interface(usbus_t *usbus, usbus_interface_t *iface);
 
+/**
+ * @brief Find an endpoint from an interface based on the endpoint properties
+ *
+ * This iterates over the endpoints in an interface and will return the first
+ * endpoint from the interface matching the @p type and @p dir. It will return
+ * NULL when no matching endpoint is found.
+ *
+ * @param[in] interface interface to look in
+ * @param[in] type      endpoint type to match
+ * @param[in] dir       endpoint direction to match
+ *
+ * @return              ptr to the first matching endpoint
+ * @return              NULL when no endpoint is found
+ */
+usbus_endpoint_t *usbus_interface_find_endpoint(usbus_interface_t *interface,
+                                                usb_ep_type_t type,
+                                                usb_ep_dir_t dir);
+
 /**
  * @brief Add an endpoint to the specified interface
  *
diff --git a/sys/usb/usbus/usbus.c b/sys/usb/usbus/usbus.c
index a39b9d2ca3..8006f81252 100644
--- a/sys/usb/usbus/usbus.c
+++ b/sys/usb/usbus/usbus.c
@@ -127,6 +127,18 @@ void usbus_register_event_handler(usbus_t *usbus, usbus_handler_t *handler)
     *last = handler;
 }
 
+usbus_endpoint_t *usbus_interface_find_endpoint(usbus_interface_t *interface,
+                                                usb_ep_type_t type,
+                                                usb_ep_dir_t dir)
+{
+    for (usbus_endpoint_t *uep = interface->ep; uep; uep = uep->next) {
+        if (uep->ep->type == type && uep->ep->dir == dir) {
+            return uep;
+        }
+    }
+    return NULL;
+}
+
 usbus_endpoint_t *usbus_add_endpoint(usbus_t *usbus, usbus_interface_t *iface,
                                      usb_ep_type_t type, usb_ep_dir_t dir,
                                      size_t len)