diff --git a/drivers/usb/dwc3/gadget.c b/drivers/usb/dwc3/gadget.c
index 71d01b29e7b5..bcd0d32ed4e9 100644
--- a/drivers/usb/dwc3/gadget.c
+++ b/drivers/usb/dwc3/gadget.c
@@ -871,7 +871,8 @@ static void dwc3_prepare_one_trb(struct dwc3_ep *dep,
 		 * This is only possible with faulty memory because we
 		 * checked it already :)
 		 */
-		BUG();
+		dev_WARN(dwc->dev, "Unknown endpoint type %d\n",
+				usb_endpoint_type(dep->endpoint.desc));
 	}
 
 	/* always enable Continue on Short Packet */