diff --git a/components/soc/esp32s2/include/soc/usb_pins.h b/components/soc/esp32s2/include/soc/usb_pins.h
index 436df2baa6..8c837fed27 100644
--- a/components/soc/esp32s2/include/soc/usb_pins.h
+++ b/components/soc/esp32s2/include/soc/usb_pins.h
@@ -1,12 +1,18 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #pragma once
 
-/* GPIOs used to connect an external USB PHY */
+/*
+Note: These macros are deprecated. When connecting USB OTG to an external FSLS
+PHY, the FSLS Serial Interface signals can be routed to any GPIO via the GPIO
+matrix. Thus, these macros are meaningless.
+
+Todo: Remove in IDF v6.0 (IDF-9029)
+*/
 #define USBPHY_VP_NUM 33
 #define USBPHY_VM_NUM 34
 #define USBPHY_RCV_NUM 35
diff --git a/components/soc/esp32s2/usb_periph.c b/components/soc/esp32s2/usb_periph.c
index 2f55335feb..a3fda7193e 100644
--- a/components/soc/esp32s2/usb_periph.c
+++ b/components/soc/esp32s2/usb_periph.c
@@ -1,20 +1,19 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #include "soc/soc_caps.h"
 #include "soc/usb_periph.h"
 
+/*
+Note: These IO pins are deprecated. When connecting USB OTG to an external FSLS
+PHY, the FSLS Serial Interface signals can be routed to any GPIO via the GPIO
+matrix. Thus, this mapping of signals to IO pins is meaningless.
+
+Todo: Remove in IDF v6.0 (IDF-9029)
+*/
 const usb_iopin_dsc_t usb_periph_iopins[] = {
     {USBPHY_VP_NUM, USB_EXTPHY_VP_IDX, 0, 1},
     {USBPHY_VM_NUM, USB_EXTPHY_VM_IDX, 0, 1},
diff --git a/components/soc/esp32s3/include/soc/usb_pins.h b/components/soc/esp32s3/include/soc/usb_pins.h
index 7407b0a615..7b82a1b440 100644
--- a/components/soc/esp32s3/include/soc/usb_pins.h
+++ b/components/soc/esp32s3/include/soc/usb_pins.h
@@ -1,12 +1,18 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #pragma once
 
-/* GPIOs used to connect an external USB PHY */
+/*
+Note: These macros are deprecated. When connecting USB OTG to an external FSLS
+PHY, the FSLS Serial Interface signals can be routed to any GPIO via the GPIO
+matrix. Thus, these macros are meaningless.
+
+Todo: Remove in IDF v6.0 (IDF-9029)
+*/
 #define USBPHY_VP_NUM 42
 #define USBPHY_VM_NUM 41
 #define USBPHY_RCV_NUM 21
diff --git a/components/soc/esp32s3/usb_periph.c b/components/soc/esp32s3/usb_periph.c
index 2f55335feb..a3fda7193e 100644
--- a/components/soc/esp32s3/usb_periph.c
+++ b/components/soc/esp32s3/usb_periph.c
@@ -1,20 +1,19 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #include "soc/soc_caps.h"
 #include "soc/usb_periph.h"
 
+/*
+Note: These IO pins are deprecated. When connecting USB OTG to an external FSLS
+PHY, the FSLS Serial Interface signals can be routed to any GPIO via the GPIO
+matrix. Thus, this mapping of signals to IO pins is meaningless.
+
+Todo: Remove in IDF v6.0 (IDF-9029)
+*/
 const usb_iopin_dsc_t usb_periph_iopins[] = {
     {USBPHY_VP_NUM, USB_EXTPHY_VP_IDX, 0, 1},
     {USBPHY_VM_NUM, USB_EXTPHY_VM_IDX, 0, 1},
diff --git a/components/soc/include/soc/usb_periph.h b/components/soc/include/soc/usb_periph.h
index 1f0adb36b5..cd2672e79a 100644
--- a/components/soc/include/soc/usb_periph.h
+++ b/components/soc/include/soc/usb_periph.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -10,18 +10,21 @@
 #include <stdbool.h>
 #include "soc/soc_pins.h"
 #include "soc/gpio_sig_map.h"
-#include "soc/usb_reg.h"
-#include "soc/usb_types.h"
-#include "soc/usb_struct.h"
-#include "soc/usb_wrap_reg.h"
-#include "soc/usb_wrap_struct.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+#if SOC_USB_OTG_SUPPORTED
+
 /**
- * @brief A pin descriptor for init
+ * @brief A pin descriptor for init (DEPRECATED)
+ *
+ * Todo: Remove in IDF v6.0 (IDF-9029)
+ *
+ * @note These IO pins are deprecated. When connecting USB OTG to an external
+ * FSLS PHY, the FSLS Serial Interface signals can be routed to any GPIO via the
+ * GPI0 matrix. Thus, this mapping of signals to IO pins is meaningless.
  */
 typedef struct {
     const int pin;
@@ -32,6 +35,8 @@ typedef struct {
 
 extern const usb_iopin_dsc_t usb_periph_iopins[];
 
+#endif // SOC_USB_OTG_SUPPORTED
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/tools/ci/check_copyright_ignore.txt b/tools/ci/check_copyright_ignore.txt
index 8f286358df..915570beef 100644
--- a/tools/ci/check_copyright_ignore.txt
+++ b/tools/ci/check_copyright_ignore.txt
@@ -886,7 +886,6 @@ components/soc/esp32s2/include/soc/usbh_struct.h
 components/soc/esp32s2/include/soc/wdev_reg.h
 components/soc/esp32s2/ledc_periph.c
 components/soc/esp32s2/uart_periph.c
-components/soc/esp32s2/usb_periph.c
 components/soc/esp32s3/dedic_gpio_periph.c
 components/soc/esp32s3/i2c_periph.c
 components/soc/esp32s3/include/soc/apb_ctrl_reg.h
@@ -960,7 +959,6 @@ components/soc/esp32s3/ledc_periph.c
 components/soc/esp32s3/sdio_slave_periph.c
 components/soc/esp32s3/sdmmc_periph.c
 components/soc/esp32s3/uart_periph.c
-components/soc/esp32s3/usb_periph.c
 components/soc/include/soc/dedic_gpio_periph.h
 components/soc/include/soc/emac_periph.h
 components/soc/include/soc/gpio_periph.h