diff --git a/hw/arm/fsl-imx6ul.c b/hw/arm/fsl-imx6ul.c
index a0bcc6f895..99a5859a4e 100644
--- a/hw/arm/fsl-imx6ul.c
+++ b/hw/arm/fsl-imx6ul.c
@@ -20,6 +20,7 @@
 #include "qapi/error.h"
 #include "hw/arm/fsl-imx6ul.h"
 #include "hw/misc/unimp.h"
+#include "hw/usb/imx-usb-phy.h"
 #include "hw/boards.h"
 #include "sysemu/sysemu.h"
 #include "qemu/error-report.h"
@@ -133,6 +134,18 @@ static void fsl_imx6ul_init(Object *obj)
                               TYPE_IMX_ENET);
     }
 
+    /* USB */
+    for (i = 0; i < FSL_IMX6UL_NUM_USB_PHYS; i++) {
+        snprintf(name, NAME_SIZE, "usbphy%d", i);
+        sysbus_init_child_obj(obj, name, &s->usbphy[i], sizeof(s->usbphy[i]),
+                              TYPE_IMX_USBPHY);
+    }
+    for (i = 0; i < FSL_IMX6UL_NUM_USBS; i++) {
+        snprintf(name, NAME_SIZE, "usb%d", i);
+        sysbus_init_child_obj(obj, name, &s->usb[i], sizeof(s->usb[i]),
+                              TYPE_CHIPIDEA);
+    }
+
     /*
      * SDHCI
      */
@@ -456,6 +469,28 @@ static void fsl_imx6ul_realize(DeviceState *dev, Error **errp)
                                             FSL_IMX6UL_ENETn_TIMER_IRQ[i]));
     }
 
+    /* USB */
+    for (i = 0; i < FSL_IMX6UL_NUM_USB_PHYS; i++) {
+        object_property_set_bool(OBJECT(&s->usbphy[i]), true, "realized",
+                                 &error_abort);
+        sysbus_mmio_map(SYS_BUS_DEVICE(&s->usbphy[i]), 0,
+                        FSL_IMX6UL_USBPHY1_ADDR + i * 0x1000);
+    }
+
+    for (i = 0; i < FSL_IMX6UL_NUM_USBS; i++) {
+        static const int FSL_IMX6UL_USBn_IRQ[] = {
+            FSL_IMX6UL_USB1_IRQ,
+            FSL_IMX6UL_USB2_IRQ,
+        };
+        object_property_set_bool(OBJECT(&s->usb[i]), true, "realized",
+                                 &error_abort);
+        sysbus_mmio_map(SYS_BUS_DEVICE(&s->usb[i]), 0,
+                        FSL_IMX6UL_USBO2_USB_ADDR + i * 0x200);
+        sysbus_connect_irq(SYS_BUS_DEVICE(&s->usb[i]), 0,
+                           qdev_get_gpio_in(DEVICE(&s->a7mpcore),
+                                            FSL_IMX6UL_USBn_IRQ[i]));
+    }
+
     /*
      * USDHC
      */
diff --git a/include/hw/arm/fsl-imx6ul.h b/include/hw/arm/fsl-imx6ul.h
index 5a420785b9..1a0bab8daa 100644
--- a/include/hw/arm/fsl-imx6ul.h
+++ b/include/hw/arm/fsl-imx6ul.h
@@ -34,6 +34,8 @@
 #include "hw/sd/sdhci.h"
 #include "hw/ssi/imx_spi.h"
 #include "hw/net/imx_fec.h"
+#include "hw/usb/chipidea.h"
+#include "hw/usb/imx-usb-phy.h"
 #include "exec/memory.h"
 #include "cpu.h"
 
@@ -54,6 +56,8 @@ enum FslIMX6ULConfiguration {
     FSL_IMX6UL_NUM_I2CS         = 4,
     FSL_IMX6UL_NUM_ECSPIS       = 4,
     FSL_IMX6UL_NUM_ADCS         = 2,
+    FSL_IMX6UL_NUM_USB_PHYS     = 2,
+    FSL_IMX6UL_NUM_USBS         = 2,
 };
 
 typedef struct FslIMX6ULState {
@@ -77,6 +81,8 @@ typedef struct FslIMX6ULState {
     IMXFECState        eth[FSL_IMX6UL_NUM_ETHS];
     SDHCIState         usdhc[FSL_IMX6UL_NUM_USDHCS];
     IMX2WdtState       wdt[FSL_IMX6UL_NUM_WDTS];
+    IMXUSBPHYState     usbphy[FSL_IMX6UL_NUM_USB_PHYS];
+    ChipideaState      usb[FSL_IMX6UL_NUM_USBS];
     MemoryRegion       rom;
     MemoryRegion       caam;
     MemoryRegion       ocram;
@@ -145,6 +151,10 @@ enum FslIMX6ULMemoryMap {
     FSL_IMX6UL_EPIT2_ADDR           = 0x020D4000,
     FSL_IMX6UL_EPIT1_ADDR           = 0x020D0000,
     FSL_IMX6UL_SNVS_HP_ADDR         = 0x020CC000,
+    FSL_IMX6UL_USBPHY2_ADDR         = 0x020CA000,
+    FSL_IMX6UL_USBPHY2_SIZE         = (4 * 1024),
+    FSL_IMX6UL_USBPHY1_ADDR         = 0x020C9000,
+    FSL_IMX6UL_USBPHY1_SIZE         = (4 * 1024),
     FSL_IMX6UL_ANALOG_ADDR          = 0x020C8000,
     FSL_IMX6UL_CCM_ADDR             = 0x020C4000,
     FSL_IMX6UL_WDOG2_ADDR           = 0x020C0000,