diff --git a/drivers/usb/dwc3/core.c b/drivers/usb/dwc3/core.c
index 1820b742c3f4..80d97c71e5c2 100644
--- a/drivers/usb/dwc3/core.c
+++ b/drivers/usb/dwc3/core.c
@@ -84,15 +84,6 @@ static int dwc3_get_dr_mode(struct dwc3 *dwc)
 			mode = USB_DR_MODE_HOST;
 		else if (IS_ENABLED(CONFIG_USB_DWC3_GADGET))
 			mode = USB_DR_MODE_PERIPHERAL;
-
-		/*
-		 * DWC_usb31 and DWC_usb3 v3.30a and higher do not support OTG
-		 * mode. If the controller supports DRD but the dr_mode is not
-		 * specified or set to OTG, then set the mode to peripheral.
-		 */
-		if (mode == USB_DR_MODE_OTG &&
-		    dwc->revision >= DWC3_REVISION_330A)
-			mode = USB_DR_MODE_PERIPHERAL;
 	}
 
 	if (mode != dwc->dr_mode) {