diff --git a/docs/system/arm/imx8mp-evk.rst b/docs/system/arm/imx8mp-evk.rst
index a3a17fc41f..af1f02d8e8 100644
--- a/docs/system/arm/imx8mp-evk.rst
+++ b/docs/system/arm/imx8mp-evk.rst
@@ -16,6 +16,7 @@ The ``imx8mp-evk`` machine implements the following devices:
  * 3 USDHC Storage Controllers
  * 1 Designware PCI Express Controller
  * 1 Ethernet Controller
+ * 2 Designware USB 3 Controllers
  * 5 GPIO Controllers
  * 6 I2C Controllers
  * 3 SPI Controllers
diff --git a/include/hw/arm/fsl-imx8mp.h b/include/hw/arm/fsl-imx8mp.h
index 8fe27ac9bd..1b8a5cbbba 100644
--- a/include/hw/arm/fsl-imx8mp.h
+++ b/include/hw/arm/fsl-imx8mp.h
@@ -23,6 +23,7 @@
 #include "hw/sd/sdhci.h"
 #include "hw/ssi/imx_spi.h"
 #include "hw/timer/imx_gpt.h"
+#include "hw/usb/hcd-dwc3.h"
 #include "hw/watchdog/wdt_imx2.h"
 #include "qom/object.h"
 #include "qemu/units.h"
@@ -41,6 +42,7 @@ enum FslImx8mpConfiguration {
     FSL_IMX8MP_NUM_I2CS         = 6,
     FSL_IMX8MP_NUM_IRQS         = 160,
     FSL_IMX8MP_NUM_UARTS        = 4,
+    FSL_IMX8MP_NUM_USBS         = 2,
     FSL_IMX8MP_NUM_USDHCS       = 3,
     FSL_IMX8MP_NUM_WDTS         = 3,
 };
@@ -61,6 +63,7 @@ struct FslImx8mpState {
     IMXFECState        enet;
     SDHCIState         usdhc[FSL_IMX8MP_NUM_USDHCS];
     IMX2WdtState       wdt[FSL_IMX8MP_NUM_WDTS];
+    USBDWC3            usb[FSL_IMX8MP_NUM_USBS];
     DesignwarePCIEHost pcie;
     FslImx8mPciePhyState   pcie_phy;
     OrIRQState         gpt5_gpt6_irq;
@@ -198,6 +201,12 @@ enum FslImx8mpMemoryRegions {
     FSL_IMX8MP_UART4,
     FSL_IMX8MP_USB1,
     FSL_IMX8MP_USB2,
+    FSL_IMX8MP_USB1_DEV,
+    FSL_IMX8MP_USB2_DEV,
+    FSL_IMX8MP_USB1_OTG,
+    FSL_IMX8MP_USB2_OTG,
+    FSL_IMX8MP_USB1_GLUE,
+    FSL_IMX8MP_USB2_GLUE,
     FSL_IMX8MP_USDHC1,
     FSL_IMX8MP_USDHC2,
     FSL_IMX8MP_USDHC3,
@@ -233,6 +242,9 @@ enum FslImx8mpIrqs {
     FSL_IMX8MP_I2C3_IRQ     = 37,
     FSL_IMX8MP_I2C4_IRQ     = 38,
 
+    FSL_IMX8MP_USB1_IRQ     = 40,
+    FSL_IMX8MP_USB2_IRQ     = 41,
+
     FSL_IMX8MP_GPT1_IRQ      = 55,
     FSL_IMX8MP_GPT2_IRQ      = 54,
     FSL_IMX8MP_GPT3_IRQ      = 53,
diff --git a/hw/arm/fsl-imx8mp.c b/hw/arm/fsl-imx8mp.c
index 3bb719d0e8..5b9781a424 100644
--- a/hw/arm/fsl-imx8mp.c
+++ b/hw/arm/fsl-imx8mp.c
@@ -40,8 +40,14 @@ static const struct {
     [FSL_IMX8MP_VPU_VC8000E_ENCODER] = { 0x38320000, 2 * MiB, "vpu_vc8000e_encoder" },
     [FSL_IMX8MP_VPU_G2_DECODER] = { 0x38310000, 2 * MiB, "vpu_g2_decoder" },
     [FSL_IMX8MP_VPU_G1_DECODER] = { 0x38300000, 2 * MiB, "vpu_g1_decoder" },
-    [FSL_IMX8MP_USB2] = { 0x38200000, 1 * MiB, "usb2" },
-    [FSL_IMX8MP_USB1] = { 0x38100000, 1 * MiB, "usb1" },
+    [FSL_IMX8MP_USB2_GLUE] = { 0x382f0000, 0x100, "usb2_glue" },
+    [FSL_IMX8MP_USB2_OTG] = { 0x3820cc00, 0x100, "usb2_otg" },
+    [FSL_IMX8MP_USB2_DEV] = { 0x3820c700, 0x500, "usb2_dev" },
+    [FSL_IMX8MP_USB2] = { 0x38200000, 0xc700, "usb2" },
+    [FSL_IMX8MP_USB1_GLUE] = { 0x381f0000, 0x100, "usb1_glue" },
+    [FSL_IMX8MP_USB1_OTG] = { 0x3810cc00, 0x100, "usb1_otg" },
+    [FSL_IMX8MP_USB1_DEV] = { 0x3810c700, 0x500, "usb1_dev" },
+    [FSL_IMX8MP_USB1] = { 0x38100000, 0xc700, "usb1" },
     [FSL_IMX8MP_GPU2D] = { 0x38008000, 32 * KiB, "gpu2d" },
     [FSL_IMX8MP_GPU3D] = { 0x38000000, 32 * KiB, "gpu3d" },
     [FSL_IMX8MP_QSPI1_RX_BUFFER] = { 0x34000000, 32 * MiB, "qspi1_rx_buffer" },
@@ -233,6 +239,11 @@ static void fsl_imx8mp_init(Object *obj)
         object_initialize_child(obj, name, &s->usdhc[i], TYPE_IMX_USDHC);
     }
 
+    for (i = 0; i < FSL_IMX8MP_NUM_USBS; i++) {
+        snprintf(name, NAME_SIZE, "usb%d", i);
+        object_initialize_child(obj, name, &s->usb[i], TYPE_USB_DWC3);
+    }
+
     for (i = 0; i < FSL_IMX8MP_NUM_ECSPIS; i++) {
         snprintf(name, NAME_SIZE, "spi%d", i + 1);
         object_initialize_child(obj, name, &s->spi[i], TYPE_IMX_SPI);
@@ -528,6 +539,27 @@ static void fsl_imx8mp_realize(DeviceState *dev, Error **errp)
                            qdev_get_gpio_in(gicdev, usdhc_table[i].irq));
     }
 
+    /* USBs */
+    for (i = 0; i < FSL_IMX8MP_NUM_USBS; i++) {
+        static const struct {
+            hwaddr addr;
+            unsigned int irq;
+        } usb_table[FSL_IMX8MP_NUM_USBS] = {
+            { fsl_imx8mp_memmap[FSL_IMX8MP_USB1].addr, FSL_IMX8MP_USB1_IRQ },
+            { fsl_imx8mp_memmap[FSL_IMX8MP_USB2].addr, FSL_IMX8MP_USB2_IRQ },
+        };
+
+        qdev_prop_set_uint32(DEVICE(&s->usb[i].sysbus_xhci), "p2", 1);
+        qdev_prop_set_uint32(DEVICE(&s->usb[i].sysbus_xhci), "p3", 1);
+        qdev_prop_set_uint32(DEVICE(&s->usb[i].sysbus_xhci), "slots", 2);
+        if (!sysbus_realize(SYS_BUS_DEVICE(&s->usb[i]), errp)) {
+            return;
+        }
+        sysbus_mmio_map(SYS_BUS_DEVICE(&s->usb[i]), 0, usb_table[i].addr);
+        sysbus_connect_irq(SYS_BUS_DEVICE(&s->usb[i].sysbus_xhci), 0,
+                           qdev_get_gpio_in(gicdev, usb_table[i].irq));
+    }
+
     /* ECSPIs */
     for (i = 0; i < FSL_IMX8MP_NUM_ECSPIS; i++) {
         static const struct {
@@ -632,6 +664,7 @@ static void fsl_imx8mp_realize(DeviceState *dev, Error **errp)
         case FSL_IMX8MP_RAM:
         case FSL_IMX8MP_SNVS_HP:
         case FSL_IMX8MP_UART1 ... FSL_IMX8MP_UART4:
+        case FSL_IMX8MP_USB1 ... FSL_IMX8MP_USB2:
         case FSL_IMX8MP_USDHC1 ... FSL_IMX8MP_USDHC3:
         case FSL_IMX8MP_WDOG1 ... FSL_IMX8MP_WDOG3:
             /* device implemented and treated above */
diff --git a/hw/arm/Kconfig b/hw/arm/Kconfig
index 0e49ac4d5c..c9b47270ac 100644
--- a/hw/arm/Kconfig
+++ b/hw/arm/Kconfig
@@ -591,6 +591,7 @@ config FSL_IMX8MP
     select PCI_EXPRESS_FSL_IMX8M_PHY
     select SDHCI
     select UNIMP
+    select USB_DWC3
     select WDT_IMX2
 
 config FSL_IMX8MP_EVK
