diff --git a/components/driver/usb_serial_jtag.c b/components/driver/usb_serial_jtag.c
index 07f0bb1ee6..3f7db5ee8f 100644
--- a/components/driver/usb_serial_jtag.c
+++ b/components/driver/usb_serial_jtag.c
@@ -16,6 +16,7 @@
 #include <stdbool.h>
 #include "esp_log.h"
 #include "hal/usb_serial_jtag_ll.h"
+#include "hal/usb_phy_ll.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/semphr.h"
 #include "freertos/ringbuf.h"
@@ -120,6 +121,9 @@ esp_err_t usb_serial_jtag_driver_install(usb_serial_jtag_driver_config_t *usb_se
         goto _exit;
     }
 
+    // Configure PHY
+    usb_phy_ll_int_jtag_enable(&USB_SERIAL_JTAG);
+
     usb_serial_jtag_ll_clr_intsts_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY|
                                          USB_SERIAL_JTAG_INTR_SERIAL_OUT_RECV_PKT);
     usb_serial_jtag_ll_ena_intr_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY|
diff --git a/components/hal/esp32c3/include/hal/gpio_ll.h b/components/hal/esp32c3/include/hal/gpio_ll.h
index 91343f8477..0b57785955 100644
--- a/components/hal/esp32c3/include/hal/gpio_ll.h
+++ b/components/hal/esp32c3/include/hal/gpio_ll.h
@@ -50,6 +50,12 @@ static inline void gpio_ll_pullup_en(gpio_dev_t *hw, gpio_num_t gpio_num)
   */
 static inline void gpio_ll_pullup_dis(gpio_dev_t *hw, gpio_num_t gpio_num)
 {
+    // The pull-up value of the USB pins are controlled by the pins’ pull-up value together with USB pull-up value
+    // USB DP pin is default to PU enabled
+    if (gpio_num == USB_DP_GPIO_NUM) {
+        SET_PERI_REG_MASK(USB_SERIAL_JTAG_CONF0_REG, USB_SERIAL_JTAG_PAD_PULL_OVERRIDE);
+        CLEAR_PERI_REG_MASK(USB_SERIAL_JTAG_CONF0_REG, USB_SERIAL_JTAG_DP_PULLUP);
+    }
     REG_CLR_BIT(GPIO_PIN_MUX_REG[gpio_num], FUN_PU);
 }
 
diff --git a/components/hal/esp32c3/include/hal/usb_phy_ll.h b/components/hal/esp32c3/include/hal/usb_phy_ll.h
new file mode 100644
index 0000000000..40d4cd1800
--- /dev/null
+++ b/components/hal/esp32c3/include/hal/usb_phy_ll.h
@@ -0,0 +1,34 @@
+/*
+ * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "soc/usb_serial_jtag_struct.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Configures the internal PHY for USB_Serial_JTAG
+ *
+ * @param hw Start address of the USB Serial_JTAG registers
+ */
+static inline void usb_phy_ll_int_jtag_enable(usb_serial_jtag_dev_t *hw)
+{
+    // USB_Serial_JTAG use internal PHY
+    hw->conf0.phy_sel = 0;
+    // Disable software control USB D+ D- pullup pulldown (Device FS: dp_pullup = 1)
+    hw->conf0.pad_pull_override = 0;
+    // Enable USB D+ pullup
+    hw->conf0.dp_pullup = 1;
+    // Enable USB pad function
+    hw->conf0.usb_pad_enable = 1;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/hal/esp32h2/include/hal/gpio_ll.h b/components/hal/esp32h2/include/hal/gpio_ll.h
index f38cf9c5d4..a834c8b24e 100644
--- a/components/hal/esp32h2/include/hal/gpio_ll.h
+++ b/components/hal/esp32h2/include/hal/gpio_ll.h
@@ -26,15 +26,17 @@ extern "C" {
 #endif
 
 /*
- * The following defines are used to disable USB JTAG when pins 18 and pins 19
- * are set to be used as GPIO.
+ * The following defines are used to disable USB JTAG and DP pullup when
+ * pins 18 and pins 19 are set to be used as GPIO.
  * See gpio_pad_select_gpio() below.
  *
  * TODO: Delete these definitions once the USB device registers definition is
  * merged.
  */
-#define USB_DEVICE_CONF0_REG        (0x60043018)
-#define USB_DEVICE_USB_PAD_ENABLE   (BIT(14))
+#define USB_DEVICE_CONF0_REG         (0x60043018)
+#define USB_DEVICE_USB_PAD_ENABLE    (BIT(14))
+#define USB_DEVICE_DP_PULLUP         (BIT(9))
+#define USB_DEVICE_PAD_PULL_OVERRIDE (BIT(8))
 
 // Get GPIO hardware instance with giving gpio num
 #define GPIO_LL_GET_HW(num) (((num) == 0) ? (&GPIO) : NULL)
@@ -60,6 +62,12 @@ static inline void gpio_ll_pullup_en(gpio_dev_t *hw, gpio_num_t gpio_num)
   */
 static inline void gpio_ll_pullup_dis(gpio_dev_t *hw, gpio_num_t gpio_num)
 {
+    // The pull-up value of the USB pins are controlled by the pins’ pull-up value together with USB pull-up value
+    // USB DP pin is default to PU enabled
+    if (gpio_num == USB_DP_GPIO_NUM) {
+        SET_PERI_REG_MASK(USB_DEVICE_CONF0_REG, USB_DEVICE_PAD_PULL_OVERRIDE);
+        CLEAR_PERI_REG_MASK(USB_DEVICE_CONF0_REG, USB_DEVICE_DP_PULLUP);
+    }
     REG_CLR_BIT(GPIO_PIN_MUX_REG[gpio_num], FUN_PU);
 }
 
diff --git a/components/hal/esp32h2/include/hal/usb_phy_ll.h b/components/hal/esp32h2/include/hal/usb_phy_ll.h
new file mode 100644
index 0000000000..40d4cd1800
--- /dev/null
+++ b/components/hal/esp32h2/include/hal/usb_phy_ll.h
@@ -0,0 +1,34 @@
+/*
+ * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "soc/usb_serial_jtag_struct.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Configures the internal PHY for USB_Serial_JTAG
+ *
+ * @param hw Start address of the USB Serial_JTAG registers
+ */
+static inline void usb_phy_ll_int_jtag_enable(usb_serial_jtag_dev_t *hw)
+{
+    // USB_Serial_JTAG use internal PHY
+    hw->conf0.phy_sel = 0;
+    // Disable software control USB D+ D- pullup pulldown (Device FS: dp_pullup = 1)
+    hw->conf0.pad_pull_override = 0;
+    // Enable USB D+ pullup
+    hw->conf0.dp_pullup = 1;
+    // Enable USB pad function
+    hw->conf0.usb_pad_enable = 1;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/hal/esp32s3/include/hal/gpio_ll.h b/components/hal/esp32s3/include/hal/gpio_ll.h
index 6a5b7b1b85..a68ff6729c 100644
--- a/components/hal/esp32s3/include/hal/gpio_ll.h
+++ b/components/hal/esp32s3/include/hal/gpio_ll.h
@@ -52,6 +52,14 @@ static inline void gpio_ll_pullup_en(gpio_dev_t *hw, gpio_num_t gpio_num)
   */
 static inline void gpio_ll_pullup_dis(gpio_dev_t *hw, gpio_num_t gpio_num)
 {
+    // The pull-up value of the USB pins are controlled by the pins’ pull-up value together with USB pull-up value
+    // USB DP pin is default to PU enabled
+    // Note that from esp32s3 ECO1, USB_EXCHG_PINS feature has been supported. If this efuse is burnt, the gpio pin
+    // which should be checked is USB_DM_GPIO_NUM instead.
+    if (gpio_num == USB_DP_GPIO_NUM) {
+        SET_PERI_REG_MASK(USB_SERIAL_JTAG_CONF0_REG, USB_SERIAL_JTAG_PAD_PULL_OVERRIDE);
+        CLEAR_PERI_REG_MASK(USB_SERIAL_JTAG_CONF0_REG, USB_SERIAL_JTAG_DP_PULLUP);
+    }
     REG_CLR_BIT(GPIO_PIN_MUX_REG[gpio_num], FUN_PU);
 }
 
diff --git a/components/hal/esp32s3/include/hal/rtc_io_ll.h b/components/hal/esp32s3/include/hal/rtc_io_ll.h
index 08a3c63e6a..97eff5f368 100644
--- a/components/hal/esp32s3/include/hal/rtc_io_ll.h
+++ b/components/hal/esp32s3/include/hal/rtc_io_ll.h
@@ -17,6 +17,8 @@
 #include "soc/rtc_io_struct.h"
 #include "hal/rtc_io_types.h"
 #include "hal/gpio_types.h"
+#include "soc/io_mux_reg.h"
+#include "soc/usb_serial_jtag_reg.h"
 
 #define RTCIO_LL_PIN_FUNC     0
 
@@ -181,6 +183,14 @@ static inline void rtcio_ll_pullup_enable(int rtcio_num)
  */
 static inline void rtcio_ll_pullup_disable(int rtcio_num)
 {
+    // The pull-up value of the USB pins are controlled by the pins’ pull-up value together with USB pull-up value
+    // USB DP pin is default to PU enabled
+    // Note that from esp32s3 ECO1, USB_EXCHG_PINS feature has been supported. If this efuse is burnt, the gpio pin
+    // which should be checked is USB_DM_GPIO_NUM instead.
+    if (rtcio_num == USB_DP_GPIO_NUM) {
+        SET_PERI_REG_MASK(USB_SERIAL_JTAG_CONF0_REG, USB_SERIAL_JTAG_PAD_PULL_OVERRIDE);
+        CLEAR_PERI_REG_MASK(USB_SERIAL_JTAG_CONF0_REG, USB_SERIAL_JTAG_DP_PULLUP);
+    }
     if (rtc_io_desc[rtcio_num].pullup) {
         CLEAR_PERI_REG_MASK(rtc_io_desc[rtcio_num].reg, rtc_io_desc[rtcio_num].pullup);
     }
diff --git a/components/hal/esp32s3/include/hal/usb_phy_ll.h b/components/hal/esp32s3/include/hal/usb_phy_ll.h
index fc665552d8..acf6eed102 100644
--- a/components/hal/esp32s3/include/hal/usb_phy_ll.h
+++ b/components/hal/esp32s3/include/hal/usb_phy_ll.h
@@ -59,6 +59,8 @@ static inline void usb_phy_ll_int_jtag_enable(usb_serial_jtag_dev_t *hw)
     hw->conf0.phy_sel = 0;
     // Disable software control USB D+ D- pullup pulldown (Device FS: dp_pullup = 1)
     hw->conf0.pad_pull_override = 0;
+    // Enable USB D+ pullup
+    hw->conf0.dp_pullup = 1;
     // Enable USB pad function
     hw->conf0.usb_pad_enable = 1;
     // phy_sel is controlled by the following register value
diff --git a/components/soc/esp32c3/include/soc/io_mux_reg.h b/components/soc/esp32c3/include/soc/io_mux_reg.h
index 618f8fa5d3..7eb6d25867 100644
--- a/components/soc/esp32c3/include/soc/io_mux_reg.h
+++ b/components/soc/esp32c3/include/soc/io_mux_reg.h
@@ -138,6 +138,9 @@
 #define SD_DATA2_GPIO_NUM 9
 #define SD_DATA3_GPIO_NUM 10
 
+#define USB_DM_GPIO_NUM   18
+#define USB_DP_GPIO_NUM   19
+
 #define MAX_RTC_GPIO_NUM 5
 #define MAX_PAD_GPIO_NUM 21
 #define MAX_GPIO_NUM    25
diff --git a/components/soc/esp32h2/include/soc/io_mux_reg.h b/components/soc/esp32h2/include/soc/io_mux_reg.h
index e9a0795167..de79ebb807 100644
--- a/components/soc/esp32h2/include/soc/io_mux_reg.h
+++ b/components/soc/esp32h2/include/soc/io_mux_reg.h
@@ -138,6 +138,9 @@
 #define SD_DATA2_GPIO_NUM 9
 #define SD_DATA3_GPIO_NUM 10
 
+#define USB_DM_GPIO_NUM   18
+#define USB_DP_GPIO_NUM   19
+
 #define MAX_RTC_GPIO_NUM 0
 #define MAX_PAD_GPIO_NUM 22
 #define MAX_GPIO_NUM    22
diff --git a/components/soc/esp32s3/include/soc/io_mux_reg.h b/components/soc/esp32s3/include/soc/io_mux_reg.h
index 4b9057400c..877a84e757 100644
--- a/components/soc/esp32s3/include/soc/io_mux_reg.h
+++ b/components/soc/esp32s3/include/soc/io_mux_reg.h
@@ -163,6 +163,8 @@
 #define SD_DATA1_GPIO_NUM 14
 #define SD_DATA2_GPIO_NUM 9
 #define SD_DATA3_GPIO_NUM 10
+#define USB_DM_GPIO_NUM   19
+#define USB_DP_GPIO_NUM   20
 
 #define MAX_RTC_GPIO_NUM 21
 #define MAX_PAD_GPIO_NUM 48