diff --git a/src/drivers/bus/usb.c b/src/drivers/bus/usb.c
index 548aa7b0..54a115ef 100644
--- a/src/drivers/bus/usb.c
+++ b/src/drivers/bus/usb.c
@@ -1281,6 +1281,9 @@ static int register_usb ( struct usb_device *usb ) {
 		goto err_enable;
 	}
 
+	/* Allow recovery interval since port may have been reset */
+	mdelay ( USB_RESET_RECOVER_DELAY_MS );
+
 	/* Get device speed */
 	if ( ( rc = hub->driver->speed ( hub, port ) ) != 0 ) {
 		DBGC ( hub, "USB hub %s port %d could not get speed: %s\n",
@@ -1316,6 +1319,9 @@ static int register_usb ( struct usb_device *usb ) {
 	}
 	DBGC2 ( usb, "USB %s assigned address %d\n", usb->name, usb->address );
 
+	/* Allow recovery interval after Set Address command */
+	mdelay ( USB_SET_ADDRESS_RECOVER_DELAY_MS );
+
 	/* Read first part of device descriptor to get EP0 MTU */
 	if ( ( rc = usb_get_mtu ( usb, &usb->device ) ) != 0 ) {
 		DBGC ( usb, "USB %s could not get MTU: %s\n",
diff --git a/src/drivers/usb/xhci.h b/src/drivers/usb/xhci.h
index 30320807..5abb5caa 100644
--- a/src/drivers/usb/xhci.h
+++ b/src/drivers/usb/xhci.h
@@ -991,9 +991,11 @@ xhci_ring_consumed ( struct xhci_trb_ring *ring ) {
 
 /** Maximum time to wait for a command to complete
  *
- * This is a policy decision.
+ * The "address device" command involves waiting for a response to a
+ * USB control transaction, and so we must wait for up to the 5000ms
+ * that USB allows for devices to respond to control transactions.
  */
-#define XHCI_COMMAND_MAX_WAIT_MS 500
+#define XHCI_COMMAND_MAX_WAIT_MS USB_CONTROL_MAX_WAIT_MS
 
 /** Time to delay after aborting a command
  *
diff --git a/src/include/ipxe/usb.h b/src/include/ipxe/usb.h
index e961f748..a9c185f6 100644
--- a/src/include/ipxe/usb.h
+++ b/src/include/ipxe/usb.h
@@ -1178,20 +1178,42 @@ extern unsigned int usb_route_string ( struct usb_device *usb );
 extern unsigned int usb_depth ( struct usb_device *usb );
 extern struct usb_port * usb_root_hub_port ( struct usb_device *usb );
 
-/** Minimum reset time */
+/** Minimum reset time
+ *
+ * Section 7.1.7.5 of the USB2 specification states that root hub
+ * ports should assert reset signalling for at least 50ms.
+ */
 #define USB_RESET_DELAY_MS 50
 
+/** Reset recovery time
+ *
+ * Section 9.2.6.2 of the USB2 specification states that the
+ * "recovery" interval after a port reset is 10ms.
+ */
+#define USB_RESET_RECOVER_DELAY_MS 10
+
 /** Maximum time to wait for a control transaction to complete
  *
- * This is a policy decision.
+ * Section 9.2.6.1 of the USB2 specification states that the upper
+ * limit for commands to be processed is 5 seconds.
  */
-#define USB_CONTROL_MAX_WAIT_MS 100
+#define USB_CONTROL_MAX_WAIT_MS 5000
+
+/** Set address recovery time
+ *
+ * Section 9.2.6.3 of the USB2 specification states that devices are
+ * allowed a 2ms recovery interval after receiving a new address.
+ */
+#define USB_SET_ADDRESS_RECOVER_DELAY_MS 2
 
 /** Time to wait for ports to stabilise
  *
- * This is a policy decision.
+ * Section 7.1.7.3 of the USB specification states that we must allow
+ * 100ms for devices to signal attachment, and an additional 100ms for
+ * connection debouncing.  (This delay is parallelised across all
+ * ports on a hub; we do not delay separately for each port.)
  */
-#define USB_PORT_DELAY_MS 100
+#define USB_PORT_DELAY_MS 200
 
 /** A USB device ID */
 struct usb_device_id {