diff --git a/drivers/usb/device/usb_dc_stm32.c b/drivers/usb/device/usb_dc_stm32.c
index 4119f008b9c642..e64a81770e1356 100644
--- a/drivers/usb/device/usb_dc_stm32.c
+++ b/drivers/usb/device/usb_dc_stm32.c
@@ -372,6 +372,17 @@ static int usb_dc_stm32_init(void)
 	}
 #endif /* USB */
 
+#ifdef SYSCFG_CFGR1_USB_IT_RMP
+	/* On STM32F302/F303 USB IRQ collides with CAN_1 IRQ */
+	/* Remap IRQ by default to enable use of both IPs simultaneoulsy */
+	if (LL_APB2_GRP1_IsEnabledClock(LL_APB2_GRP1_PERIPH_SYSCFG)) {
+		LL_SYSCFG_EnableRemapIT_USB();
+	} else {
+		LOG_ERR("System Configuration Controller clock is "
+			"disabled. Unable to enable IRQ remapping.");
+	}
+#endif
+
 	IRQ_CONNECT(DT_USB_IRQ, DT_USB_IRQ_PRI,
 		    usb_dc_stm32_isr, 0, 0);
 	irq_enable(DT_USB_IRQ);
@@ -395,7 +406,7 @@ int usb_dc_attach(void)
 		LL_SYSCFG_EnablePinRemap();
 	} else {
 		LOG_ERR("System Configuration Controller clock is "
-			"disable. Unable to enable pin remapping."
+			"disabled. Unable to enable pin remapping.");
 	}
 #endif
 
diff --git a/dts/arm/st/f3/stm32f302.dtsi b/dts/arm/st/f3/stm32f302.dtsi
index 484e56fc4a647c..4a2b946e4fd9fb 100644
--- a/dts/arm/st/f3/stm32f302.dtsi
+++ b/dts/arm/st/f3/stm32f302.dtsi
@@ -8,6 +8,11 @@
 
 / {
 	soc {
+		usb: usb@40005c00 {
+			/* Remap USB_LB IRQ to enable use with CAN_1 */
+			interrupts = <75 0>;
+		};
+
 		i2c2: i2c@40005800 {
 			compatible = "st,stm32-i2c-v2";
 			clock-frequency = <I2C_BITRATE_STANDARD>;
diff --git a/dts/arm/st/f3/stm32f303.dtsi b/dts/arm/st/f3/stm32f303.dtsi
index 1bf0d2b5cd3f7e..2077e66824e984 100644
--- a/dts/arm/st/f3/stm32f303.dtsi
+++ b/dts/arm/st/f3/stm32f303.dtsi
@@ -8,6 +8,11 @@
 
 / {
 	soc {
+		usb: usb@40005c00 {
+			/* Remap USB_LB IRQ to enable use with CAN_1 */
+			interrupts = <75 0>;
+		};
+
 		i2c2: i2c@40005800 {
 			compatible = "st,stm32-i2c-v2";
 			clock-frequency = <I2C_BITRATE_STANDARD>;