diff --git a/device/esp_tinyusb/include/tinyusb.h b/device/esp_tinyusb/include/tinyusb.h
index 484c86e..887c63f 100644
--- a/device/esp_tinyusb/include/tinyusb.h
+++ b/device/esp_tinyusb/include/tinyusb.h
@@ -68,6 +68,16 @@ typedef struct {
  */
 esp_err_t tinyusb_driver_install(const tinyusb_config_t *config);
 
+/**
+ * @brief This is an all-in-one helper function, including:
+ * 1. Stops the task to handle usb events
+ * 2. TinyUSB stack tearing down
+ * 2. Freeing resources after descriptors preparation
+ * 3. Deletes USB PHY
+ *
+ * @retval ESP_FAIL Uninstall driver or tinyusb stack failed because of internal error
+ * @retval ESP_OK Uninstall driver, tinyusb stack and USB PHY successfully
+ */
 esp_err_t tinyusb_driver_uninstall(void);
 
 #ifdef __cplusplus
diff --git a/device/esp_tinyusb/test_apps/cdc_and_usb_device/main/test_bvalid_sig.c b/device/esp_tinyusb/test_apps/cdc_and_usb_device/main/test_bvalid_sig.c
index 1bf865a..9bce381 100644
--- a/device/esp_tinyusb/test_apps/cdc_and_usb_device/main/test_bvalid_sig.c
+++ b/device/esp_tinyusb/test_apps/cdc_and_usb_device/main/test_bvalid_sig.c
@@ -121,6 +121,5 @@ TEST_CASE("bvalid_signal", "[esp_tinyusb][usb_device]")
 
     // Cleanup
     TEST_ASSERT_EQUAL(ESP_OK, tinyusb_driver_uninstall());
-    TEST_ASSERT_EQUAL(ESP_OK, tusb_stop_task());
 }
 #endif // SOC_USB_OTG_SUPPORTED
diff --git a/device/esp_tinyusb/test_apps/cdc_and_usb_device/main/test_descriptors_config.c b/device/esp_tinyusb/test_apps/cdc_and_usb_device/main/test_descriptors_config.c
index a7c74bd..673761d 100644
--- a/device/esp_tinyusb/test_apps/cdc_and_usb_device/main/test_descriptors_config.c
+++ b/device/esp_tinyusb/test_apps/cdc_and_usb_device/main/test_descriptors_config.c
@@ -140,7 +140,6 @@ TEST_CASE("descriptors_config_all_default", "[esp_tinyusb][usb_device]")
     TEST_ASSERT_EQUAL(ESP_OK, __test_wait_conn());
     // Cleanup
     TEST_ASSERT_EQUAL(ESP_OK, tinyusb_driver_uninstall());
-    TEST_ASSERT_EQUAL(ESP_OK, tusb_stop_task());
     __test_free();
 }
 
@@ -163,7 +162,6 @@ TEST_CASE("descriptors_config_device", "[esp_tinyusb][usb_device]")
     TEST_ASSERT_EQUAL(ESP_OK, __test_wait_conn());
     // Cleanup
     TEST_ASSERT_EQUAL(ESP_OK, tinyusb_driver_uninstall());
-    TEST_ASSERT_EQUAL(ESP_OK, tusb_stop_task());
     __test_free();
 }
 
@@ -186,7 +184,6 @@ TEST_CASE("descriptors_config_device_and_config", "[esp_tinyusb][usb_device]")
     TEST_ASSERT_EQUAL(ESP_OK, __test_wait_conn());
     // Cleanup
     TEST_ASSERT_EQUAL(ESP_OK, tinyusb_driver_uninstall());
-    TEST_ASSERT_EQUAL(ESP_OK, tusb_stop_task());
     __test_free();
 }
 
@@ -208,7 +205,6 @@ TEST_CASE("descriptors_config_device_and_fs_config_only", "[esp_tinyusb][usb_dev
     TEST_ASSERT_EQUAL(ESP_OK, __test_wait_conn());
     // Cleanup
     TEST_ASSERT_EQUAL(ESP_OK, tinyusb_driver_uninstall());
-    TEST_ASSERT_EQUAL(ESP_OK, tusb_stop_task());
     __test_free();
 }
 
@@ -229,7 +225,6 @@ TEST_CASE("descriptors_config_device_and_hs_config_only", "[esp_tinyusb][usb_dev
     TEST_ASSERT_EQUAL(ESP_OK, __test_wait_conn());
     // Cleanup
     TEST_ASSERT_EQUAL(ESP_OK, tinyusb_driver_uninstall());
-    TEST_ASSERT_EQUAL(ESP_OK, tusb_stop_task());
     __test_free();
 }
 
@@ -250,7 +245,6 @@ TEST_CASE("descriptors_config_all_configured", "[esp_tinyusb][usb_device]")
     TEST_ASSERT_EQUAL(ESP_OK, __test_wait_conn());
     // Cleanup
     TEST_ASSERT_EQUAL(ESP_OK, tinyusb_driver_uninstall());
-    TEST_ASSERT_EQUAL(ESP_OK, tusb_stop_task());
     __test_free();
 }
 #endif // TUD_OPT_HIGH_SPEED
diff --git a/device/esp_tinyusb/tinyusb.c b/device/esp_tinyusb/tinyusb.c
index 52bc2ae..2315ab5 100644
--- a/device/esp_tinyusb/tinyusb.c
+++ b/device/esp_tinyusb/tinyusb.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2020-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -19,6 +19,11 @@
 const static char *TAG = "TinyUSB";
 static usb_phy_handle_t phy_hdl;
 
+// For the tinyusb component without tusb_teardown() implementation
+#ifndef tusb_teardown
+#   define tusb_teardown()   (true)
+#endif // tusb_teardown
+
 esp_err_t tinyusb_driver_install(const tinyusb_config_t *config)
 {
     ESP_RETURN_ON_FALSE(config, ESP_ERR_INVALID_ARG, TAG, "Config can't be NULL");
@@ -66,8 +71,18 @@ esp_err_t tinyusb_driver_install(const tinyusb_config_t *config)
     return ESP_OK;
 }
 
-esp_err_t tinyusb_driver_uninstall()
+esp_err_t tinyusb_driver_uninstall(void)
 {
+    esp_err_t ret = tusb_stop_task();
+
+    if (ret != ESP_OK) {
+        return ret;
+    }
+
+    if (!tusb_teardown()) {
+        return ESP_ERR_NOT_FINISHED;
+    }
+
     tinyusb_free_descriptors();
     return usb_del_phy(phy_hdl);
 }