diff --git a/src/device/dcd.h b/src/device/dcd.h
index 69c26bcf4..21f404e4f 100644
--- a/src/device/dcd.h
+++ b/src/device/dcd.h
@@ -122,6 +122,9 @@ void dcd_dcache_clean_invalidate(void const* addr, uint32_t data_size) TU_ATTR_W
 // Initialize controller to device mode
 void dcd_init(uint8_t rhport);
 
+// Deinitialize controller, unset device mode.
+void dcd_deinit(uint8_t rhport);
+
 // Interrupt Handler
 void dcd_int_handler(uint8_t rhport);
 
diff --git a/src/device/usbd.h b/src/device/usbd.h
index 2e3987b99..a9350192b 100644
--- a/src/device/usbd.h
+++ b/src/device/usbd.h
@@ -37,9 +37,12 @@ extern "C" {
 // Application API
 //--------------------------------------------------------------------+
 
-// Init device stack
+// Init device stack on roothub port
 bool tud_init (uint8_t rhport);
 
+// Deinit device stack on roothub port
+void tud_deinit(uint8_t rhport);
+
 // Check if device stack is already initialized
 bool tud_inited(void);
 
diff --git a/src/portable/raspberrypi/rp2040/dcd_rp2040.c b/src/portable/raspberrypi/rp2040/dcd_rp2040.c
index 5c564cb1c..ccc7ee102 100644
--- a/src/portable/raspberrypi/rp2040/dcd_rp2040.c
+++ b/src/portable/raspberrypi/rp2040/dcd_rp2040.c
@@ -407,6 +407,18 @@ void dcd_init(uint8_t rhport) {
   dcd_connect(rhport);
 }
 
+void dcd_deinit(uint8_t rhport) {
+  assert(rhport == 0);
+
+  dcd_disconnect(rhport);
+  reset_non_control_endpoints();
+  irq_remove_handler(USBCTRL_IRQ, dcd_rp2040_irq);
+
+  // reset usb hardware into initial state
+  reset_block(RESETS_RESET_USBCTRL_BITS);
+  unreset_block_wait(RESETS_RESET_USBCTRL_BITS);
+}
+
 void dcd_int_enable(__unused uint8_t rhport) {
   assert(rhport == 0);
   irq_set_enabled(USBCTRL_IRQ, true);
diff --git a/src/portable/raspberrypi/rp2040/hcd_rp2040.c b/src/portable/raspberrypi/rp2040/hcd_rp2040.c
index b351a9a07..762753a25 100644
--- a/src/portable/raspberrypi/rp2040/hcd_rp2040.c
+++ b/src/portable/raspberrypi/rp2040/hcd_rp2040.c
@@ -409,6 +409,14 @@ bool hcd_init(uint8_t rhport)
   return true;
 }
 
+void hcd_deinit(uint8_t rhport) {
+  (void) rhport;
+
+  irq_remove_handler(USBCTRL_IRQ, hcd_rp2040_irq);
+  reset_block(RESETS_RESET_USBCTRL_BITS);
+  unreset_block_wait(RESETS_RESET_USBCTRL_BITS);
+}
+
 void hcd_port_reset(uint8_t rhport)
 {
   (void) rhport;