diff --git a/.github/workflows/build_and_run_usbh_shell_pytest.yaml b/.github/workflows/build_and_run_usbh_shell_pytest.yaml
new file mode 100644
index 0000000000000..58cbbea454d4e
--- /dev/null
+++ b/.github/workflows/build_and_run_usbh_shell_pytest.yaml
@@ -0,0 +1,193 @@
+name: Build and Run
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        zephyr_ver: ["v0.29.1"]
+    container:
+      image: ghcr.io/zephyrproject-rtos/ci:${{ matrix.zephyr_ver }}
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # v6.0.2
+        with:
+          path: ws/zephyr
+          fetch-depth: 0
+
+      - name: Setup Python deps (west + twister requirements)
+        shell: bash
+        run: |
+          python3 -m venv "$GITHUB_WORKSPACE/ws/.venv"
+          . "$GITHUB_WORKSPACE/ws/.venv/bin/activate"
+          pip install -U pip wheel
+          pip install -r "$GITHUB_WORKSPACE/ws/zephyr/scripts/requirements.txt" \
+                     -r "$GITHUB_WORKSPACE/ws/zephyr/scripts/requirements-build-test.txt"
+
+      - name: West init/update/export (modules + blobs)
+        shell: bash
+        run: |
+          . "$GITHUB_WORKSPACE/ws/.venv/bin/activate"
+          cd "$GITHUB_WORKSPACE/ws"
+          west init -l zephyr
+          west update hal_espressif
+          west blobs fetch hal_espressif
+          west zephyr-export
+
+      - name: Locate Zephyr SDK in container
+        shell: bash
+        run: |
+          # Common locations used by Zephyr CI images; pick the first that exists.
+          for d in /opt/zephyr-sdk* /opt/toolchains/zephyr-sdk* /usr/local/zephyr-sdk*; do
+          if [ -d "$d" ]; then
+            echo "Found Zephyr SDK at $d"
+            echo "ZEPHYR_SDK_INSTALL_DIR=$d" >> $GITHUB_ENV
+          break
+          fi
+          done
+
+          # Debug: show what we set
+          echo "ZEPHYR_SDK_INSTALL_DIR=${ZEPHYR_SDK_INSTALL_DIR:-<unset>}"
+          ls -la /opt || true
+
+      - name: Twister build-only (ESP32S3)
+        shell: bash
+        env:
+          PYTEST_DISABLE_PLUGIN_AUTOLOAD: "1"
+          ZEPHYR_TOOLCHAIN_VARIANT: zephyr
+        run: |
+          . "$GITHUB_WORKSPACE/ws/.venv/bin/activate"
+          cd "$GITHUB_WORKSPACE/ws/zephyr"
+
+          west twister -T samples/subsys/usb/shell --list-tests
+
+          west twister \
+            -T samples/subsys/usb/shell \
+            -p esp32s3_devkitc/esp32s3/procpu \
+            -s sample.usbh.shell.hil \
+            --build-only \
+            -j 1 -v \
+            --outdir "$GITHUB_WORKSPACE/twister-out"
+
+      - name: Pack twister-out artifact
+        shell: bash
+        run: |
+          cd "$GITHUB_WORKSPACE"
+          tar -czf twister-out.tgz twister-out
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@b7c566a772e6b6bfb58ed0dc250532a479d7789f # v6.0.0
+        with:
+          name: twister-out
+          path: twister-out.tgz
+          if-no-files-found: error
+
+  run:
+    if: startsWith(github.head_ref, 'pr-add-')
+    runs-on: [self-hosted, docker, esp32s3, usb_host]
+    strategy:
+      matrix:
+        zephyr_ver: ["v0.29.1"]
+    container:
+      image: ghcr.io/zephyrproject-rtos/ci:${{ matrix.zephyr_ver }}
+      options: >-
+        --volume=/etc/zephyr:/etc/zephyr:ro
+        --device=/dev/ttyACM0
+    needs: [build]
+
+    steps:
+      - name: Checkout (workspace layout)
+        uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # v6.0.2
+        with:
+          path: ws/zephyr
+          fetch-depth: 0
+
+      - name: Python venv + requirements (clean)
+        shell: bash
+        run: |
+          rm -rf "$GITHUB_WORKSPACE/ws/.venv"
+          python3 -m venv "$GITHUB_WORKSPACE/ws/.venv"
+          . "$GITHUB_WORKSPACE/ws/.venv/bin/activate"
+          pip install -U pip wheel esptool pyserial
+          pip install -r "$GITHUB_WORKSPACE/ws/zephyr/scripts/requirements.txt" \
+                     -r "$GITHUB_WORKSPACE/ws/zephyr/scripts/requirements-build-test.txt"
+
+      - name: West init/update/export (runner, idempotent)
+        shell: bash
+        run: |
+          . "$GITHUB_WORKSPACE/ws/.venv/bin/activate"
+          cd "$GITHUB_WORKSPACE/ws"
+          if [ ! -d .west ]; then
+            west init -l zephyr
+          fi
+          west zephyr-export
+
+      - name: Download twister-out artifact
+        uses: actions/download-artifact@018cc2cf5baa6db3ef3c5f8a56943fffe632ef53 # v6.0.0
+        with:
+          name: twister-out
+          path: ${{ github.workspace }}
+
+      - name: Unpack twister-out
+        shell: bash
+        run: |
+          cd "$GITHUB_WORKSPACE"
+          rm -rf twister-out
+          tar -xzf twister-out.tgz
+
+      - name: Locate Zephyr SDK in container
+        shell: bash
+        run: |
+          # Common locations used by Zephyr CI images; pick the first that exists.
+          for d in /opt/zephyr-sdk* /opt/toolchains/zephyr-sdk* /usr/local/zephyr-sdk*; do
+          if [ -d "$d" ]; then
+            echo "Found Zephyr SDK at $d"
+            echo "ZEPHYR_SDK_INSTALL_DIR=$d" >> $GITHUB_ENV
+          break
+          fi
+          done
+
+          # Debug: show what we set
+          echo "ZEPHYR_SDK_INSTALL_DIR=${ZEPHYR_SDK_INSTALL_DIR:-<unset>}"
+          ls -la /opt || true
+
+      - name: Run on hardware (test-only)
+        shell: bash
+        env:
+          PYTEST_DISABLE_PLUGIN_AUTOLOAD: "1"
+          ZEPHYR_TOOLCHAIN_VARIANT: zephyr
+        run: |
+          git config --global --add safe.directory "$GITHUB_WORKSPACE/ws/zephyr"
+
+          . "$GITHUB_WORKSPACE/ws/.venv/bin/activate"
+          cd "$GITHUB_WORKSPACE/ws/zephyr"
+
+          west twister \
+            -T samples/subsys/usb/shell \
+            -p esp32s3_devkitc/esp32s3/procpu \
+            -s sample.usbh.shell.hil \
+            --test-only \
+            --device-testing \
+            --hardware-map /etc/zephyr/hardware-map-esp32s3.yml \
+            -j 1 -vvv \
+            --outdir "$GITHUB_WORKSPACE/twister-out"
+
+      - name: Upload Twister reports
+        if: always()
+        uses: actions/upload-artifact@b7c566a772e6b6bfb58ed0dc250532a479d7789f # v6.0.0
+        with:
+          name: twister-reports
+          path: |
+            twister-out/**/twister_harness.log
+            twister-out/twister.xml
+            twister-out/twister_report.xml
+            twister-out/twister.json
diff --git a/samples/subsys/usb/shell/host_prj.conf b/samples/subsys/usb/shell/host_prj.conf
new file mode 100644
index 0000000000000..ff93f5c95ea9b
--- /dev/null
+++ b/samples/subsys/usb/shell/host_prj.conf
@@ -0,0 +1,8 @@
+CONFIG_SHELL=y
+
+CONFIG_USB_HOST_STACK=y
+CONFIG_USBH_SHELL=y
+CONFIG_UDC_DWC2=n
+CONFIG_LOG=y
+CONFIG_USBH_LOG_LEVEL_WRN=y
+CONFIG_UHC_DRIVER_LOG_LEVEL_WRN=y
diff --git a/samples/subsys/usb/shell/pytest/test_usbh_shell.py b/samples/subsys/usb/shell/pytest/test_usbh_shell.py
new file mode 100644
index 0000000000000..e9f2cd6cccd66
--- /dev/null
+++ b/samples/subsys/usb/shell/pytest/test_usbh_shell.py
@@ -0,0 +1,121 @@
+# Copyright (c) 2026 Roman Leonov <jam_roma@yahoo.com>
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import logging
+import re
+import time
+
+from twister_harness import Shell
+
+logger = logging.getLogger(__name__)
+ANSI = re.compile(r"\x1B\[[0-?]*[ -/]*[@-~]")
+
+
+def _contains(lines, needle: str) -> bool:
+    return any(needle in line for line in lines)
+
+
+def _match(lines, pattern: str) -> bool:
+    rx = re.compile(pattern)
+    return any(rx.search(line) for line in lines)
+
+
+def wait_for_device(shell, timeout_s=10.0, poll_s=0.5):
+    end = time.time() + timeout_s
+    last_resp = []
+    while time.time() < end:
+        last_resp = shell.exec_command("usbh device list")
+        # There should be decimal number in the response
+        if any(re.match(r"^\s*\d+\s*$", dev_number) for dev_number in last_resp):
+            return last_resp
+        time.sleep(poll_s)
+    raise AssertionError(f"No USB device within {timeout_s}s. Last output:\n{last_resp}")
+
+
+def test_usbh_init_enable_and_list(shell: Shell):
+    # usbh init
+    logger.info('run "usbh init"')
+    lines = shell.exec_command("usbh init")
+    assert _contains(lines, "host: USB host initialized"), f"Unexpected init output:\n{lines}"
+
+    # usbh enable
+    logger.info('run "usbh enable"')
+    lines = shell.exec_command("usbh enable")
+    assert _contains(lines, "host: USB host enabled"), f"Unexpected enable output:\n{lines}"
+
+    # usbh device list -> poll the list and expect at least one device
+    wait_for_device(shell, timeout_s=5.0, poll_s=0.5)
+
+    logger.info('run "usbh device descriptor device 1"')
+    lines = shell.exec_command("usbh device descriptor device 1")
+
+    # Remove ANSI symbols from the lines
+    clean_lines = [ANSI.sub("", symbol) for symbol in lines]
+
+    # This is an error message, might gone, verify the length and type instead
+    assert _contains(clean_lines, "host: USB device with address 1"), (
+        f"Missing device header:\n{clean_lines}"
+    )
+
+    # Check a few stable anchors of device descriptor
+    assert _match(clean_lines, r"^\s*bLength\s+18\s*$"), (
+        f"Missing Device bLength 18:\n{clean_lines}"
+    )
+    assert _match(clean_lines, r"^\s*bDescriptorType\s+1\s*$"), (
+        f"Missing Device bDescriptorType 1:\n{clean_lines}"
+    )
+
+    logger.info('run "usbh device descriptor configuration 1 0"')
+    lines = shell.exec_command("usbh device descriptor configuration 1 0")
+
+    # Remove ANSI symbols from the lines
+    clean_lines = [ANSI.sub("", symbol) for symbol in lines]
+
+    # Check a few stable anchors of configuration descriptor
+    assert _match(clean_lines, r"^\s*bLength\s+9\s*$"), f"Missing Config bLength 9:\n{clean_lines}"
+    assert _match(clean_lines, r"^\s*bDescriptorType\s+2\s*$"), (
+        f"Missing Config bDescriptorType 2:\n{clean_lines}"
+    )
+
+    # String 1: Manufacturer
+    logger.info('run "usbh device descriptor string 1 1 1"')
+    lines = shell.exec_command("usbh device descriptor string 1 1 1")
+    assert _match(lines, r"^00000000:"), f"Expected hexdump for string 1, got:\n{lines}"
+
+    # String 2: Product
+    logger.info('run "usbh device descriptor string 1 1 2"')
+    lines = shell.exec_command("usbh device descriptor string 1 1 2")
+    assert _match(lines, r"^00000000:"), f"Expected hexdump for string 2, got:\n{lines}"
+
+    # String 3: Serial
+    logger.info('run "usbh device descriptor string 1 1 3"')
+    lines = shell.exec_command("usbh device descriptor string 1 1 3")
+    assert _match(lines, r"^00000000:"), f"Expected hexdump for string 3, got:\n{lines}"
+
+    # String 4: Product
+    logger.info('run "usbh device descriptor string 1 1 4"')
+    lines = shell.exec_command("usbh device descriptor string 1 1 4")
+    assert _match(lines, r"^00000000:"), f"Expected hexdump for string 4, got:\n{lines}"
+
+    # String 5: Product
+    logger.info('run "usbh device descriptor string 1 1 5"')
+    lines = shell.exec_command("usbh device descriptor string 1 1 5")
+    assert _match(lines, r"^00000000:"), f"Expected hexdump for string 5, got:\n{lines}"
+
+    # String 6: STALL string request
+    logger.info('run "usbh device descriptor string 1 1 6"')
+    lines = shell.exec_command("usbh device descriptor string 1 1 6")
+    assert _contains(lines, "host: Failed to request configuration descriptor"), (
+        f"Expected failure message for string 6, got:\n{lines}"
+    )
+
+    # String 1: Manufacturer
+    logger.info('run "usbh device descriptor string 1 1 1"')
+    lines = shell.exec_command("usbh device descriptor string 1 1 1")
+    assert _match(lines, r"^00000000:"), f"Expected hexdump for string 1, got:\n{lines}"
+
+    # String 2: Product
+    logger.info('run "usbh device descriptor string 1 1 2"')
+    lines = shell.exec_command("usbh device descriptor string 1 1 2")
+    assert _match(lines, r"^00000000:"), f"Expected hexdump for string 2, got:\n{lines}"
diff --git a/samples/subsys/usb/shell/sample.yaml b/samples/subsys/usb/shell/sample.yaml
index 898f0b5398124..602a67f66d158 100644
--- a/samples/subsys/usb/shell/sample.yaml
+++ b/samples/subsys/usb/shell/sample.yaml
@@ -47,3 +47,12 @@ tests:
     platform_allow:
       - native_sim/native/64
     build_only: true
+  sample.usbh.shell.hil:
+    harness: pytest
+    tags:
+      - usb
+      - shield
+    extra_args:
+      - CONF_FILE="host_prj.conf"
+    platform_allow:
+      - esp32s3_devkitc/esp32s3/procpu