diff --git a/drivers/usb/renesas_usbhs/fifo.c b/drivers/usb/renesas_usbhs/fifo.c
index 8597cf9cfceb..50f4e3a12072 100644
--- a/drivers/usb/renesas_usbhs/fifo.c
+++ b/drivers/usb/renesas_usbhs/fifo.c
@@ -611,6 +611,8 @@ struct usbhs_pkt_handle usbhs_fifo_pio_push_handler = {
 static int usbhsf_prepare_pop(struct usbhs_pkt *pkt, int *is_done)
 {
 	struct usbhs_pipe *pipe = pkt->pipe;
+	struct usbhs_priv *priv = usbhs_pipe_to_priv(pipe);
+	struct usbhs_fifo *fifo = usbhsf_get_cfifo(priv);
 
 	if (usbhs_pipe_is_busy(pipe))
 		return 0;
@@ -624,6 +626,9 @@ static int usbhsf_prepare_pop(struct usbhs_pkt *pkt, int *is_done)
 	usbhs_pipe_data_sequence(pipe, pkt->sequence);
 	pkt->sequence = -1; /* -1 sequence will be ignored */
 
+	if (usbhs_pipe_is_dcp(pipe))
+		usbhsf_fifo_clear(pipe, fifo);
+
 	usbhs_pipe_set_trans_count_if_bulk(pipe, pkt->length);
 	usbhs_pipe_enable(pipe);
 	usbhs_pipe_running(pipe, 1);