diff --git a/drivers/usb/dwc2/gadget.c b/drivers/usb/dwc2/gadget.c
index 566bc1e604af..66dfcdbd1e03 100644
--- a/drivers/usb/dwc2/gadget.c
+++ b/drivers/usb/dwc2/gadget.c
@@ -2748,12 +2748,14 @@ static void dwc2_hsotg_complete_in(struct dwc2_hsotg *hsotg,
 		return;
 	}
 
-	/* Zlp for all endpoints, for ep0 only in DATA IN stage */
+	/* Zlp for all endpoints in non DDMA, for ep0 only in DATA IN stage */
 	if (hs_ep->send_zlp) {
-		dwc2_hsotg_program_zlp(hsotg, hs_ep);
 		hs_ep->send_zlp = 0;
-		/* transfer will be completed on next complete interrupt */
-		return;
+		if (!using_desc_dma(hsotg)) {
+			dwc2_hsotg_program_zlp(hsotg, hs_ep);
+			/* transfer will be completed on next complete interrupt */
+			return;
+		}
 	}
 
 	if (hs_ep->index == 0 && hsotg->ep0_state == DWC2_EP0_DATA_IN) {