diff --git a/Cargo.lock b/Cargo.lock
index 0f0065e0f..058cf6e78 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -3735,6 +3735,7 @@ dependencies = [
  "riot-rs-debug",
  "riot-rs-embassy-common",
  "riot-rs-utils",
+ "static_cell",
 ]
 
 [[package]]
diff --git a/laze-project.yml b/laze-project.yml
index 469b325a1..2ae50a27e 100644
--- a/laze-project.yml
+++ b/laze-project.yml
@@ -626,6 +626,7 @@ modules:
   - name: hw/usb-device-port
     help: provided if a device has a USB device port wired up
     context:
+      - espressif-esp32-s3-wroom-1
       - nrf5340dk
       - nrf52840dk
       - rpi-pico
diff --git a/src/riot-rs-embassy/Cargo.toml b/src/riot-rs-embassy/Cargo.toml
index 9abb92afb..2b4789cec 100644
--- a/src/riot-rs-embassy/Cargo.toml
+++ b/src/riot-rs-embassy/Cargo.toml
@@ -89,6 +89,7 @@ spi = [
 ]
 usb = [
   "dep:embassy-usb",
+  "riot-rs-esp/usb",
   "riot-rs-nrf/usb",
   "riot-rs-rp/usb",
   "riot-rs-stm32/usb",
diff --git a/src/riot-rs-esp/Cargo.toml b/src/riot-rs-esp/Cargo.toml
index 4ae5fd8aa..dddfc23a3 100644
--- a/src/riot-rs-esp/Cargo.toml
+++ b/src/riot-rs-esp/Cargo.toml
@@ -31,6 +31,7 @@ paste = { workspace = true }
 riot-rs-debug = { workspace = true }
 riot-rs-embassy-common = { workspace = true }
 riot-rs-utils = { workspace = true }
+static_cell = { workspace = true }
 
 [target.'cfg(context = "cortex-m")'.dependencies]
 embassy-executor = { workspace = true, default-features = false, features = [
@@ -81,6 +82,9 @@ spi = ["dep:fugit", "riot-rs-embassy-common/spi"]
 ## Enables defmt support.
 defmt = ["dep:defmt", "esp-wifi?/defmt", "fugit?/defmt"]
 
+# Enables USB support.
+usb = []
+
 ## Enables Wi-Fi support.
 wifi = []
 
diff --git a/src/riot-rs-esp/src/lib.rs b/src/riot-rs-esp/src/lib.rs
index bdafd6ae8..8efac4a5a 100644
--- a/src/riot-rs-esp/src/lib.rs
+++ b/src/riot-rs-esp/src/lib.rs
@@ -11,6 +11,9 @@ pub mod i2c;
 #[cfg(feature = "spi")]
 pub mod spi;
 
+#[cfg(feature = "usb")]
+pub mod usb;
+
 #[cfg(feature = "wifi")]
 pub mod wifi;
 
diff --git a/src/riot-rs-esp/src/usb/mod.rs b/src/riot-rs-esp/src/usb/mod.rs
new file mode 100644
index 000000000..3214b4e3f
--- /dev/null
+++ b/src/riot-rs-esp/src/usb/mod.rs
@@ -0,0 +1,22 @@
+use esp_hal::otg_fs::asynch::Driver;
+use static_cell::ConstStaticCell;
+
+pub type UsbDriver = Driver<'static>;
+
+pub fn driver(peripherals: &mut crate::OptionalPeripherals) -> UsbDriver {
+    use esp_hal::otg_fs::{asynch::Config, Usb};
+
+    let usb = Usb::new(
+        peripherals.USB0.take().unwrap(),
+        peripherals.GPIO_20.take().unwrap(),
+        peripherals.GPIO_19.take().unwrap(),
+    );
+
+    // Buffer size copied from upstream. There's no hint about sizing.
+    static EP_OUT_BUFFER: ConstStaticCell<[u8; 1024]> = ConstStaticCell::new([0u8; 1024]);
+    let ep_out_buffer = EP_OUT_BUFFER.take();
+
+    let config = Config::default();
+
+    Driver::new(usb, ep_out_buffer, config)
+}