diff --git a/embassy-nrf/src/usb/mod.rs b/embassy-nrf/src/usb/mod.rs
index 8cbb1a350..0c07bce64 100644
--- a/embassy-nrf/src/usb/mod.rs
+++ b/embassy-nrf/src/usb/mod.rs
@@ -473,6 +473,11 @@ impl<'d, T: Instance, Dir: EndpointDir> driver::Endpoint for Endpoint<'d, T, Dir
     async fn wait_enabled(&mut self) {
         self.wait_enabled_state(true).await
     }
+
+    fn is_enabled(&self) -> bool {
+        let ep_addr = self.info.addr.index();
+        Dir::is_enabled(T::regs(), ep_addr)
+    }
 }
 
 #[allow(private_bounds)]
diff --git a/embassy-rp/src/usb.rs b/embassy-rp/src/usb.rs
index 512271ae4..337d16671 100644
--- a/embassy-rp/src/usb.rs
+++ b/embassy-rp/src/usb.rs
@@ -538,6 +538,11 @@ impl<'d, T: Instance> driver::Endpoint for Endpoint<'d, T, In> {
         .await;
         trace!("wait_enabled IN OK");
     }
+
+    fn is_enabled(&self) -> bool {
+        let index = self.info.addr.index();
+        T::dpram().ep_in_control(index - 1).read().enable()
+    }
 }
 
 impl<'d, T: Instance> driver::Endpoint for Endpoint<'d, T, Out> {
@@ -560,6 +565,11 @@ impl<'d, T: Instance> driver::Endpoint for Endpoint<'d, T, Out> {
         .await;
         trace!("wait_enabled OUT OK");
     }
+
+    fn is_enabled(&self) -> bool {
+        let index = self.info.addr.index();
+        T::dpram().ep_in_control(index - 1).read().enable()
+    }
 }
 
 impl<'d, T: Instance> driver::EndpointOut for Endpoint<'d, T, Out> {
diff --git a/embassy-stm32/src/usb/usb.rs b/embassy-stm32/src/usb/usb.rs
index 81a2d2623..bfcfdf793 100644
--- a/embassy-stm32/src/usb/usb.rs
+++ b/embassy-stm32/src/usb/usb.rs
@@ -701,6 +701,11 @@ impl<'d, T: Instance> driver::Endpoint for Endpoint<'d, T, In> {
         .await;
         trace!("wait_enabled IN OK");
     }
+
+    fn is_enabled(&self) -> bool {
+        let index = self.info.addr.index();
+        T::regs().epr(index).read().stat_tx() != Stat::DISABLED
+    }
 }
 
 impl<'d, T: Instance> driver::Endpoint for Endpoint<'d, T, Out> {
@@ -723,6 +728,11 @@ impl<'d, T: Instance> driver::Endpoint for Endpoint<'d, T, Out> {
         .await;
         trace!("wait_enabled OUT OK");
     }
+
+    fn is_enabled(&self) -> bool {
+        let index = self.info.addr.index();
+        T::regs().epr(index).read().stat_rx() != Stat::DISABLED
+    }
 }
 
 impl<'d, T: Instance> driver::EndpointOut for Endpoint<'d, T, Out> {
diff --git a/embassy-usb-driver/src/lib.rs b/embassy-usb-driver/src/lib.rs
index 3b705c8c4..b0436f2e2 100644
--- a/embassy-usb-driver/src/lib.rs
+++ b/embassy-usb-driver/src/lib.rs
@@ -225,6 +225,9 @@ pub trait Endpoint {
 
     /// Wait for the endpoint to be enabled.
     async fn wait_enabled(&mut self);
+
+    /// Check if the endpoint is enabled.
+    fn is_enabled(&self) -> bool;
 }
 
 /// OUT Endpoint trait.
diff --git a/embassy-usb-synopsys-otg/src/lib.rs b/embassy-usb-synopsys-otg/src/lib.rs
index b90e059f6..9bf6a20c1 100644
--- a/embassy-usb-synopsys-otg/src/lib.rs
+++ b/embassy-usb-synopsys-otg/src/lib.rs
@@ -1008,6 +1008,11 @@ impl<'d> embassy_usb_driver::Endpoint for Endpoint<'d, In> {
         })
         .await
     }
+
+    fn is_enabled(&self) -> bool {
+        let ep_index = self.info.addr.index();
+        self.regs.diepctl(ep_index).read().usbaep()
+    }
 }
 
 impl<'d> embassy_usb_driver::Endpoint for Endpoint<'d, Out> {
@@ -1029,6 +1034,11 @@ impl<'d> embassy_usb_driver::Endpoint for Endpoint<'d, Out> {
         })
         .await
     }
+
+    fn is_enabled(&self) -> bool {
+        let ep_index = self.info.addr.index();
+        self.regs.diepctl(ep_index).read().usbaep()
+    }
 }
 
 impl<'d> embassy_usb_driver::EndpointOut for Endpoint<'d, Out> {