diff --git a/drivers/usb/dwc3/gadget.c b/drivers/usb/dwc3/gadget.c
index 4ed8b34540f2..45782d7ec67b 100644
--- a/drivers/usb/dwc3/gadget.c
+++ b/drivers/usb/dwc3/gadget.c
@@ -233,6 +233,7 @@ static int __dwc3_gadget_wakeup(struct dwc3 *dwc);
 int dwc3_send_gadget_ep_cmd(struct dwc3_ep *dep, unsigned cmd,
 		struct dwc3_gadget_ep_cmd_params *params)
 {
+	const struct usb_endpoint_descriptor *desc = dep->endpoint.desc;
 	struct dwc3		*dwc = dep->dwc;
 	u32			timeout = 500;
 	u32			reg;
@@ -276,7 +277,28 @@ int dwc3_send_gadget_ep_cmd(struct dwc3_ep *dep, unsigned cmd,
 	dwc3_writel(dep->regs, DWC3_DEPCMDPAR1, params->param1);
 	dwc3_writel(dep->regs, DWC3_DEPCMDPAR2, params->param2);
 
-	dwc3_writel(dep->regs, DWC3_DEPCMD, cmd | DWC3_DEPCMD_CMDACT);
+	/*
+	 * Synopsys Databook 2.60a states in section 6.3.2.5.6 of that if we're
+	 * not relying on XferNotReady, we can make use of a special "No
+	 * Response Update Transfer" command where we should clear both CmdAct
+	 * and CmdIOC bits.
+	 *
+	 * With this, we don't need to wait for command completion and can
+	 * straight away issue further commands to the endpoint.
+	 *
+	 * NOTICE: We're making an assumption that control endpoints will never
+	 * make use of Update Transfer command. This is a safe assumption
+	 * because we can never have more than one request at a time with
+	 * Control Endpoints. If anybody changes that assumption, this chunk
+	 * needs to be updated accordingly.
+	 */
+	if (DWC3_DEPCMD_CMD(cmd) == DWC3_DEPCMD_UPDATETRANSFER &&
+			!usb_endpoint_xfer_isoc(desc))
+		cmd &= ~(DWC3_DEPCMD_CMDIOC | DWC3_DEPCMD_CMDACT);
+	else
+		cmd |= DWC3_DEPCMD_CMDACT;
+
+	dwc3_writel(dep->regs, DWC3_DEPCMD, cmd);
 	do {
 		reg = dwc3_readl(dep->regs, DWC3_DEPCMD);
 		if (!(reg & DWC3_DEPCMD_CMDACT)) {