diff --git a/examples/peripherals/.build-test-rules.yml b/examples/peripherals/.build-test-rules.yml
index 74c011aa178..976237d3e3f 100644
--- a/examples/peripherals/.build-test-rules.yml
+++ b/examples/peripherals/.build-test-rules.yml
@@ -810,9 +810,6 @@ examples/peripherals/uart/uart_echo_rs485:
 examples/peripherals/usb/device:
   disable:
     - if: SOC_USB_OTG_SUPPORTED != 1
-    - if: IDF_TARGET == "esp32s31"
-      temporary: true
-      reason: USB device examples do not support esp32s31 yet
   disable_test:
     - if: IDF_TARGET not in ["esp32s2", "esp32p4"]
       temporary: true
@@ -834,9 +831,6 @@ examples/peripherals/usb/device/cherryusb_serial_device:
 examples/peripherals/usb/device/tusb_ncm:
   disable:
     - if: SOC_USB_OTG_SUPPORTED != 1 or SOC_WIFI_SUPPORTED != 1
-    - if: IDF_TARGET == "esp32s31"
-      temporary: true
-      reason: USB device examples do not support esp32s31 yet
   disable_test:
     - if: IDF_TARGET not in ["esp32s2"]
       temporary: true
diff --git a/examples/peripherals/usb/README.md b/examples/peripherals/usb/README.md
index b3000ffbb89..45da1d1a5fc 100644
--- a/examples/peripherals/usb/README.md
+++ b/examples/peripherals/usb/README.md
@@ -25,5 +25,6 @@ ESP BOARD       USB CONNECTOR (type A)
 | ESP32-P4 2.0 | pin 50 | pin 49 |
 | ESP32-P4 1.1 | GPIO27 | GPIO26 |
 | ESP32-H4     | GPIO22 | GPIO21 |
+| ESP32-S31    | pin 44 | pin 45 |
 
-> Note: On the ESP32-P4, the USB 2.0 PHY pins are dedicated to USB-OTG functionality and cannot be used as general-purpose GPIOs.
+> Note: On the ESP32-P4 and ESP32-S31, the USB 2.0 PHY pins are dedicated to USB-OTG functionality and cannot be used as general-purpose GPIOs. ESP32-S31 only supports the USB 2.0 PHY.
diff --git a/examples/peripherals/usb/device/tusb_composite_msc_serialdevice/README.md b/examples/peripherals/usb/device/tusb_composite_msc_serialdevice/README.md
index 8747380d167..5eac81ae3bd 100644
--- a/examples/peripherals/usb/device/tusb_composite_msc_serialdevice/README.md
+++ b/examples/peripherals/usb/device/tusb_composite_msc_serialdevice/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 | ESP32-S31 |
+| ----------------- | -------- | -------- | -------- | -------- | --------- |
 
 # TinyUSB Composite Device (MSC + Serial) Example
 
diff --git a/examples/peripherals/usb/device/tusb_composite_msc_serialdevice/pytest_usb_device_composite.py b/examples/peripherals/usb/device/tusb_composite_msc_serialdevice/pytest_usb_device_composite.py
index 47551908295..5a3a7ec9e01 100644
--- a/examples/peripherals/usb/device/tusb_composite_msc_serialdevice/pytest_usb_device_composite.py
+++ b/examples/peripherals/usb/device/tusb_composite_msc_serialdevice/pytest_usb_device_composite.py
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2023-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
 from time import sleep
 
@@ -9,9 +9,9 @@ from serial import Serial
 from serial.tools.list_ports import comports
 
 
-@pytest.mark.temp_skip_ci(targets=['esp32s3'], reason='lack of runners with usb_device tag')
+@pytest.mark.temp_skip_ci(targets=['esp32s3', 'esp32s31'], reason='lack of runners with usb_device tag')
 @pytest.mark.usb_device
-@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4'], indirect=['target'])
+@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4', 'esp32s31'], indirect=['target'])
 def test_usb_composite_device_serial_example(dut: Dut) -> None:
     dut.expect_exact('Hello World!')
     dut.expect_exact('USB Composite initialization')
diff --git a/examples/peripherals/usb/device/tusb_console/README.md b/examples/peripherals/usb/device/tusb_console/README.md
index 6d5900884b8..3ddeb281268 100644
--- a/examples/peripherals/usb/device/tusb_console/README.md
+++ b/examples/peripherals/usb/device/tusb_console/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 | ESP32-S31 |
+| ----------------- | -------- | -------- | -------- | -------- | --------- |
 
 # TinyUSB Sample Descriptor
 
diff --git a/examples/peripherals/usb/device/tusb_console/pytest_usb_device_console.py b/examples/peripherals/usb/device/tusb_console/pytest_usb_device_console.py
index 8860dbff925..0089515c548 100644
--- a/examples/peripherals/usb/device/tusb_console/pytest_usb_device_console.py
+++ b/examples/peripherals/usb/device/tusb_console/pytest_usb_device_console.py
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2022-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
 from time import sleep
 
@@ -9,9 +9,9 @@ from serial import Serial
 from serial.tools.list_ports import comports
 
 
-@pytest.mark.temp_skip_ci(targets=['esp32s3'], reason='lack of runners with usb_device tag')
+@pytest.mark.temp_skip_ci(targets=['esp32s3', 'esp32s31'], reason='lack of runners with usb_device tag')
 @pytest.mark.usb_device
-@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4'], indirect=['target'])
+@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4', 'esp32s31'], indirect=['target'])
 def test_usb_device_console_example(dut: Dut) -> None:
     dut.expect_exact('USB initialization DONE')
     dut.expect_exact('example: log -> UART')
diff --git a/examples/peripherals/usb/device/tusb_hid/README.md b/examples/peripherals/usb/device/tusb_hid/README.md
index 66e02acad94..417d8ddfda0 100644
--- a/examples/peripherals/usb/device/tusb_hid/README.md
+++ b/examples/peripherals/usb/device/tusb_hid/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 | ESP32-S31 |
+| ----------------- | -------- | -------- | -------- | -------- | --------- |
 
 # TinyUSB Human Interface Device Example
 
diff --git a/examples/peripherals/usb/device/tusb_hid/pytest_usb_device_hid.py b/examples/peripherals/usb/device/tusb_hid/pytest_usb_device_hid.py
index 986b293fe85..ae419997253 100644
--- a/examples/peripherals/usb/device/tusb_hid/pytest_usb_device_hid.py
+++ b/examples/peripherals/usb/device/tusb_hid/pytest_usb_device_hid.py
@@ -1,13 +1,13 @@
-# SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2022-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
 import pytest
 from pytest_embedded import Dut
 from pytest_embedded_idf.utils import idf_parametrize
 
 
-@pytest.mark.temp_skip_ci(targets=['esp32s3'], reason='lack of runners with usb_device tag')
+@pytest.mark.temp_skip_ci(targets=['esp32s3', 'esp32s31'], reason='lack of runners with usb_device tag')
 @pytest.mark.usb_device
-@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4'], indirect=['target'])
+@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4', 'esp32s31'], indirect=['target'])
 def test_usb_device_hid_example(dut: Dut) -> None:
     dut.expect_exact('USB initialization DONE')
     dut.expect_exact('Sending Keyboard report')
diff --git a/examples/peripherals/usb/device/tusb_midi/README.md b/examples/peripherals/usb/device/tusb_midi/README.md
index b2b3d9d845b..640b9ee73e4 100644
--- a/examples/peripherals/usb/device/tusb_midi/README.md
+++ b/examples/peripherals/usb/device/tusb_midi/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 | ESP32-S31 |
+| ----------------- | -------- | -------- | -------- | -------- | --------- |
 
 # TinyUSB MIDI Device Example
 
diff --git a/examples/peripherals/usb/device/tusb_midi/pytest_usb_device_midi.py b/examples/peripherals/usb/device/tusb_midi/pytest_usb_device_midi.py
index 9c6a5762467..df5351294b2 100644
--- a/examples/peripherals/usb/device/tusb_midi/pytest_usb_device_midi.py
+++ b/examples/peripherals/usb/device/tusb_midi/pytest_usb_device_midi.py
@@ -1,13 +1,13 @@
-# SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2022-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
 import pytest
 from pytest_embedded import Dut
 from pytest_embedded_idf.utils import idf_parametrize
 
 
-@pytest.mark.temp_skip_ci(targets=['esp32s3'], reason='lack of runners with usb_device tag')
+@pytest.mark.temp_skip_ci(targets=['esp32s3', 'esp32s31'], reason='lack of runners with usb_device tag')
 @pytest.mark.usb_device
-@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4'], indirect=['target'])
+@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4', 'esp32s31'], indirect=['target'])
 def test_usb_device_midi_example(dut: Dut) -> None:
     dut.expect_exact('USB initialization DONE')
     dut.expect_exact('MIDI write task init')
diff --git a/examples/peripherals/usb/device/tusb_msc/README.md b/examples/peripherals/usb/device/tusb_msc/README.md
index 207e1de948c..7454130be00 100644
--- a/examples/peripherals/usb/device/tusb_msc/README.md
+++ b/examples/peripherals/usb/device/tusb_msc/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 | ESP32-S31 |
+| ----------------- | -------- | -------- | -------- | -------- | --------- |
 
 # TinyUSB Mass Storage Device Example
 
diff --git a/examples/peripherals/usb/device/tusb_msc/pytest_usb_device_msc.py b/examples/peripherals/usb/device/tusb_msc/pytest_usb_device_msc.py
index 3503b0e62db..d037020b42a 100644
--- a/examples/peripherals/usb/device/tusb_msc/pytest_usb_device_msc.py
+++ b/examples/peripherals/usb/device/tusb_msc/pytest_usb_device_msc.py
@@ -1,13 +1,13 @@
-# SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2022-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
 import pytest
 from pytest_embedded import Dut
 from pytest_embedded_idf.utils import idf_parametrize
 
 
-@pytest.mark.temp_skip_ci(targets=['esp32s3'], reason='lack of runners with usb_device tag')
+@pytest.mark.temp_skip_ci(targets=['esp32s3', 'esp32s31'], reason='lack of runners with usb_device tag')
 @pytest.mark.usb_device
-@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4'], indirect=['target'])
+@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4', 'esp32s31'], indirect=['target'])
 def test_usb_device_msc_example(dut: Dut) -> None:
     dut.expect('Mount storage')
     dut.expect('TinyUSB Driver installed')
diff --git a/examples/peripherals/usb/device/tusb_ncm/README.md b/examples/peripherals/usb/device/tusb_ncm/README.md
index 66e6d6b2e81..0b910ddc105 100644
--- a/examples/peripherals/usb/device/tusb_ncm/README.md
+++ b/examples/peripherals/usb/device/tusb_ncm/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32-S2 | ESP32-S3 |
-| ----------------- | -------- | -------- |
+| Supported Targets | ESP32-S2 | ESP32-S3 | ESP32-S31 |
+| ----------------- | -------- | -------- | --------- |
 
 # TinyUSB Network Control Model Device Example
 
diff --git a/examples/peripherals/usb/device/tusb_ncm/pytest_usb_device_ncm.py b/examples/peripherals/usb/device/tusb_ncm/pytest_usb_device_ncm.py
index c3828531c8a..20c6966330d 100644
--- a/examples/peripherals/usb/device/tusb_ncm/pytest_usb_device_ncm.py
+++ b/examples/peripherals/usb/device/tusb_ncm/pytest_usb_device_ncm.py
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2022-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
 import subprocess
 import time
@@ -8,9 +8,9 @@ from pytest_embedded import Dut
 from pytest_embedded_idf.utils import idf_parametrize
 
 
-@pytest.mark.temp_skip_ci(targets=['esp32s3'], reason='lack of runners with usb_device tag')
+@pytest.mark.temp_skip_ci(targets=['esp32s3', 'esp32s31'], reason='lack of runners with usb_device tag')
 @pytest.mark.usb_device
-@idf_parametrize('target', ['esp32s2', 'esp32s3'], indirect=['target'])
+@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32s31'], indirect=['target'])
 def test_usb_device_ncm_example(dut: Dut) -> None:
     netif_mac = dut.expect(
         r'Network interface HW address: '
@@ -26,6 +26,6 @@ def test_usb_device_ncm_example(dut: Dut) -> None:
     print('expected network interface HW address: ', netif_mac)
     print('ifconfig command output:\n', out_str)
     if netif_mac in out_str:
-        print("NCM device's MAC address {} was found in system network interfaces".format(netif_mac))
+        print(f"NCM device's MAC address {netif_mac} was found in system network interfaces")
     else:
         raise AssertionError('NCM device not found in network interface list')
diff --git a/examples/peripherals/usb/device/tusb_serial_device/README.md b/examples/peripherals/usb/device/tusb_serial_device/README.md
index 10a62aced3d..aa0ebbe45ff 100644
--- a/examples/peripherals/usb/device/tusb_serial_device/README.md
+++ b/examples/peripherals/usb/device/tusb_serial_device/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 | ESP32-S31 |
+| ----------------- | -------- | -------- | -------- | -------- | --------- |
 
 # TinyUSB Serial Device Example
 
diff --git a/examples/peripherals/usb/device/tusb_serial_device/pytest_usb_device_serial.py b/examples/peripherals/usb/device/tusb_serial_device/pytest_usb_device_serial.py
index 0f54f382b12..82ff4f5bf41 100644
--- a/examples/peripherals/usb/device/tusb_serial_device/pytest_usb_device_serial.py
+++ b/examples/peripherals/usb/device/tusb_serial_device/pytest_usb_device_serial.py
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2022-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
 from time import sleep
 
@@ -9,9 +9,9 @@ from serial import Serial
 from serial.tools.list_ports import comports
 
 
-@pytest.mark.temp_skip_ci(targets=['esp32s3'], reason='lack of runners with usb_device tag')
+@pytest.mark.temp_skip_ci(targets=['esp32s3', 'esp32s31'], reason='lack of runners with usb_device tag')
 @pytest.mark.usb_device
-@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4'], indirect=['target'])
+@idf_parametrize('target', ['esp32s2', 'esp32s3', 'esp32p4', 'esp32s31'], indirect=['target'])
 def test_usb_device_serial_example(dut: Dut) -> None:
     dut.expect_exact('USB initialization DONE')
     sleep(2)  # Some time for the OS to enumerate our USB device