diff --git a/usb/device/USBDevice/USBDevice.cpp b/usb/device/USBDevice/USBDevice.cpp
index 0788358b21..3c73170c4b 100644
--- a/usb/device/USBDevice/USBDevice.cpp
+++ b/usb/device/USBDevice/USBDevice.cpp
@@ -1248,6 +1248,12 @@ USBDevice::USBDevice(USBPhy *phy, uint16_t vendor_id, uint16_t product_id, uint1
     _device.suspended = false;
 }
 
+USBDevice::~USBDevice()
+{
+    MBED_ASSERT(!_initialized);
+    deinit();
+}
+
 uint32_t USBDevice::endpoint_max_packet_size(usb_ep_t endpoint)
 {
     lock();
diff --git a/usb/device/USBDevice/USBDevice.h b/usb/device/USBDevice/USBDevice.h
index d5a91f1b26..a1b491574b 100644
--- a/usb/device/USBDevice/USBDevice.h
+++ b/usb/device/USBDevice/USBDevice.h
@@ -82,6 +82,14 @@ public:
      */
     USBDevice(USBPhy *phy, uint16_t vendor_id, uint16_t product_id, uint16_t product_release);
 
+    /**
+     * Cleanup this USBDevice
+     *
+     * This USBDevice must be uninitialized when the destructor is
+     * called or the behavior is undefined.
+     */
+    virtual ~USBDevice();
+
     /**
      * Initialize this instance
      *