diff --git a/sys/dev/usb/controller/dwc3.h b/sys/dev/usb/controller/dwc3.h
--- a/sys/dev/usb/controller/dwc3.h
+++ b/sys/dev/usb/controller/dwc3.h
@@ -54,6 +54,7 @@
 #define	DWC3_GGPIO		0xc124
 #define	DWC3_GUID		0xc128
 #define	DWC3_GUCTL		0xc12C
+#define	DWC3_GUCTL_HOST_AUTO_RETRY		(1 << 14)
 #define	DWC3_GBUSERRADDRLO	0xc130
 #define	DWC3_GBUSERRADDRHI	0xc134
 #define	DWC3_GPRTBIMAPLO	0xc138
diff --git a/sys/dev/usb/controller/dwc3.c b/sys/dev/usb/controller/dwc3.c
--- a/sys/dev/usb/controller/dwc3.c
+++ b/sys/dev/usb/controller/dwc3.c
@@ -209,6 +209,15 @@
 	reg &= ~DWC3_GCTL_PRTCAPDIR_MASK;
 	reg |= DWC3_GCTL_PRTCAPDIR_HOST;
 	DWC3_WRITE(sc, DWC3_GCTL, reg);
+
+	/*
+	 * Enable the Host IN Auto Retry feature, making the
+	 * host respond with a non-terminating retry ACK.
+	 * XXX If we ever support more than host mode this needs a dr_mode check.
+	 */
+	reg = DWC3_READ(sc, DWC3_GUCTL);
+	reg |= DWC3_GUCTL_HOST_AUTO_RETRY;
+	DWC3_WRITE(sc, DWC3_GUCTL, reg);
 }
 
 static void