diff --git a/port/dwc2/usb_glue_at.c b/port/dwc2/usb_glue_at.c
index 8d45f651..636ce12c 100644
--- a/port/dwc2/usb_glue_at.c
+++ b/port/dwc2/usb_glue_at.c
@@ -56,7 +56,12 @@ uint32_t usbh_get_dwc2_gccfg_conf(uint32_t reg_base)
 #endif
 }
 
+extern uint32_t SystemCoreClock;
+
 void usbd_dwc2_delay_ms(uint8_t ms)
 {
-    /* implement later */
-}
\ No newline at end of file
+    uint32_t count = SystemCoreClock / 1000 * ms;
+    while (count--) {
+        __asm volatile("nop");
+    }
+}
diff --git a/port/dwc2/usb_glue_gd.c b/port/dwc2/usb_glue_gd.c
index f3fa4d92..cd6e4c09 100644
--- a/port/dwc2/usb_glue_gd.c
+++ b/port/dwc2/usb_glue_gd.c
@@ -35,7 +35,12 @@ uint32_t usbh_get_dwc2_gccfg_conf(uint32_t reg_base)
 #endif
 }
 
+extern uint32_t SystemCoreClock;
+
 void usbd_dwc2_delay_ms(uint8_t ms)
 {
-    /* implement later */
-}
\ No newline at end of file
+    uint32_t count = SystemCoreClock / 1000 * ms;
+    while (count--) {
+        __asm volatile("nop");
+    }
+}
diff --git a/port/dwc2/usb_glue_hc.c b/port/dwc2/usb_glue_hc.c
index 431b5db5..15ba5d69 100644
--- a/port/dwc2/usb_glue_hc.c
+++ b/port/dwc2/usb_glue_hc.c
@@ -25,7 +25,12 @@ uint32_t usbh_get_dwc2_gccfg_conf(uint32_t reg_base)
     return 0;
 }
 
+extern uint32_t SystemCoreClock;
+
 void usbd_dwc2_delay_ms(uint8_t ms)
 {
-    /* implement later */
-}
\ No newline at end of file
+    uint32_t count = SystemCoreClock / 1000 * ms;
+    while (count--) {
+        __asm volatile("nop");
+    }
+}
diff --git a/port/dwc2/usb_glue_nation.c b/port/dwc2/usb_glue_nation.c
index f899e738..3e96b22f 100644
--- a/port/dwc2/usb_glue_nation.c
+++ b/port/dwc2/usb_glue_nation.c
@@ -180,8 +180,14 @@ void USB_HS_IRQHandler(void)
     g_usb_dwc2_irq(g_usb_dwc2_busid);
 }
 
+extern uint32_t SystemCoreClock;
+
 void usbd_dwc2_delay_ms(uint8_t ms)
 {
-
+    uint32_t count = SystemCoreClock / 1000 * ms;
+    while (count--) {
+        __asm volatile("nop");
+    }
 }
+
 #endif
diff --git a/port/dwc2/usb_glue_st.c b/port/dwc2/usb_glue_st.c
index f29d8915..cabf57d0 100644
--- a/port/dwc2/usb_glue_st.c
+++ b/port/dwc2/usb_glue_st.c
@@ -217,9 +217,14 @@ uint32_t usbh_get_dwc2_gccfg_conf(uint32_t reg_base)
 #endif
 }
 
+extern uint32_t SystemCoreClock;
+
 void usbd_dwc2_delay_ms(uint8_t ms)
 {
-    HAL_Delay(ms);
+    uint32_t count = SystemCoreClock / 1000 * ms;
+    while (count--) {
+        __asm volatile("nop");
+    }
 }
 
 void OTG_FS_IRQHandler(void)