diff --git a/drivers/usb/dwc2/gadget.c b/drivers/usb/dwc2/gadget.c
index 12b98b4662872..7faf5f8c056d4 100644
--- a/drivers/usb/dwc2/gadget.c
+++ b/drivers/usb/dwc2/gadget.c
@@ -4920,12 +4920,6 @@ int dwc2_gadget_init(struct dwc2_hsotg *hsotg)
 					  epnum, 0);
 	}
 
-	ret = usb_add_gadget_udc(dev, &hsotg->gadget);
-	if (ret) {
-		dwc2_hsotg_ep_free_request(&hsotg->eps_out[0]->ep,
-					   hsotg->ctrl_req);
-		return ret;
-	}
 	dwc2_hsotg_dump(hsotg);
 
 	return 0;
diff --git a/drivers/usb/dwc2/platform.c b/drivers/usb/dwc2/platform.c
index e571c8ae65ec0..c347d93eae646 100644
--- a/drivers/usb/dwc2/platform.c
+++ b/drivers/usb/dwc2/platform.c
@@ -575,6 +575,17 @@ static int dwc2_driver_probe(struct platform_device *dev)
 	if (hsotg->dr_mode == USB_DR_MODE_PERIPHERAL)
 		dwc2_lowlevel_hw_disable(hsotg);
 
+#if IS_ENABLED(CONFIG_USB_DWC2_PERIPHERAL) || \
+	IS_ENABLED(CONFIG_USB_DWC2_DUAL_ROLE)
+	/* Postponed adding a new gadget to the udc class driver list */
+	if (hsotg->gadget_enabled) {
+		retval = usb_add_gadget_udc(hsotg->dev, &hsotg->gadget);
+		if (retval) {
+			dwc2_hsotg_remove(hsotg);
+			goto error_init;
+		}
+	}
+#endif /* CONFIG_USB_DWC2_PERIPHERAL || CONFIG_USB_DWC2_DUAL_ROLE */
 	return 0;
 
 error_init: