diff --git a/device/esp_tinyusb/CHANGELOG.md b/device/esp_tinyusb/CHANGELOG.md
index a12544b..6fe2c27 100644
--- a/device/esp_tinyusb/CHANGELOG.md
+++ b/device/esp_tinyusb/CHANGELOG.md
@@ -1,6 +1,7 @@
 ## [Unreleased]
 
 - esp_tinyusb: Added possibility to configure NCM Transfer Blocks (NTB) via menuconfig
+- esp_tinyusb: Added option to select TinyUSB peripheral on esp32p4 via menuconfig (USB_PHY_SUPPORTS_P4_OTG11 in esp-idf is required)
 
 ## 1.6.0
 
diff --git a/device/esp_tinyusb/Kconfig b/device/esp_tinyusb/Kconfig
index 409793b..cb6d143 100644
--- a/device/esp_tinyusb/Kconfig
+++ b/device/esp_tinyusb/Kconfig
@@ -7,14 +7,20 @@ menu "TinyUSB Stack"
             Specify verbosity of TinyUSB log output.
 
     choice TINYUSB_RHPORT
-        depends on IDF_TARGET_ESP32P4
-        prompt "TinyUSB PHY"
-        default TINYUSB_RHPORT_HS
+        prompt "USB Peripheral"
+        default TINYUSB_RHPORT_HS if IDF_TARGET_ESP32P4
+        default TINYUSB_RHPORT_FS
         help
-            Allows set the USB PHY Controller for TinyUSB: HS (USB OTG2.0 PHY for HighSpeed)
+            Allows set the USB Peripheral Controller for TinyUSB.
+
+            - High-speed (USB OTG2.0 Peripheral for High-, Full- and Low-speed)
+            - Full-speed (USB OTG1.1 Peripheral for Full- and Low-speed)
 
         config TINYUSB_RHPORT_HS
-            bool "HS"
+            bool "OTG2.0"
+            depends on IDF_TARGET_ESP32P4
+        config TINYUSB_RHPORT_FS
+            bool "OTG1.1"
     endchoice
 
     menu "TinyUSB DCD"
diff --git a/device/esp_tinyusb/tinyusb.c b/device/esp_tinyusb/tinyusb.c
index 6d229dc..a4e217a 100644
--- a/device/esp_tinyusb/tinyusb.c
+++ b/device/esp_tinyusb/tinyusb.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -32,6 +32,13 @@ esp_err_t tinyusb_driver_install(const tinyusb_config_t *config)
     usb_phy_config_t phy_conf = {
         .controller = USB_PHY_CTRL_OTG,
         .otg_mode = USB_OTG_MODE_DEVICE,
+#if (USB_PHY_SUPPORTS_P4_OTG11)
+        .otg_speed = (TUD_OPT_HIGH_SPEED) ? USB_PHY_SPEED_HIGH : USB_PHY_SPEED_FULL,
+#else
+#if (CONFIG_IDF_TARGET_ESP32P4 && CONFIG_TINYUSB_RHPORT_FS)
+#error "USB PHY for OTG1.1 is not supported, please update your esp-idf."
+#endif // IDF_TARGET_ESP32P4 && CONFIG_TINYUSB_RHPORT_FS
+#endif // USB_PHY_SUPPORTS_P4_OTG11
     };
 
     // External PHY IOs config