diff --git a/CHANGELOG.md b/CHANGELOG.md
index dfaba74..177d3da 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 
 ## [Unreleased]
 
+### Changed
+* [breaking] The `usb_device::UsbDevice::poll()` function now returns a `Result` type.
+
 ## [0.3.2] - 2024-03-06
 
 ### Added
diff --git a/src/class.rs b/src/class.rs
index 4d70c8e..d231aad 100644
--- a/src/class.rs
+++ b/src/class.rs
@@ -54,7 +54,9 @@ pub trait UsbClass<B: UsbBus> {
     fn reset(&mut self) {}
 
     /// Called whenever the `UsbDevice` is polled.
-    fn poll(&mut self) {}
+    fn poll(&mut self) -> Result<()> {
+        Ok(())
+    }
 
     /// Called when a control request is received with direction HostToDevice.
     ///
diff --git a/src/device.rs b/src/device.rs
index e5b49df..35945ce 100644
--- a/src/device.rs
+++ b/src/device.rs
@@ -172,13 +172,13 @@ impl<B: UsbBus> UsbDevice<'_, B> {
     ///
     /// Strictly speaking the list of classes is allowed to change between polls if the device has
     /// been reset, which is indicated by `state` being equal to [`UsbDeviceState::Default`].
-    pub fn poll(&mut self, classes: &mut ClassList<'_, B>) -> bool {
+    pub fn poll(&mut self, classes: &mut ClassList<'_, B>) -> Result<bool> {
         let pr = self.bus.poll();
 
         if self.device_state == UsbDeviceState::Suspend {
             match pr {
                 PollResult::Suspend | PollResult::None => {
-                    return false;
+                    return Ok(false);
                 }
                 _ => {
                     self.bus.resume();
@@ -228,15 +228,17 @@ impl<B: UsbBus> UsbDevice<'_, B> {
 
                     match req {
                         Some(req) if req.direction == UsbDirection::In => {
-                            if let Err(_err) = self.control_in(classes, req) {
+                            if let Err(err) = self.control_in(classes, req) {
                                 // TODO: Propagate error out of `poll()`
-                                usb_debug!("Failed to handle input control request: {:?}", _err);
+                                usb_debug!("Failed to handle input control request: {:?}", err);
+                                return Err(err);
                             }
                         }
                         Some(req) if req.direction == UsbDirection::Out => {
-                            if let Err(_err) = self.control_out(classes, req) {
+                            if let Err(err) = self.control_out(classes, req) {
                                 // TODO: Propagate error out of `poll()`
-                                usb_debug!("Failed to handle output control request: {:?}", _err);
+                                usb_debug!("Failed to handle output control request: {:?}", err);
+                                return Err(err);
                             }
                         }
 
@@ -248,13 +250,13 @@ impl<B: UsbBus> UsbDevice<'_, B> {
                             // continue with the next transfer.
                             let completed = match self.control.handle_in_complete() {
                                 Ok(completed) => completed,
-                                Err(_err) => {
+                                Err(err) => {
                                     // TODO: Propagate this out of `poll()`
                                     usb_debug!(
                                         "Failed to process control-input complete: {:?}",
-                                        _err
+                                        err
                                     );
-                                    false
+                                    return Err(err);
                                 }
                             };
 
@@ -317,10 +319,10 @@ impl<B: UsbBus> UsbDevice<'_, B> {
                 }
 
                 for cls in classes.iter_mut() {
-                    cls.poll();
+                    cls.poll()?;
                 }
 
-                return true;
+                return Ok(true);
             }
             PollResult::Resume => {}
             PollResult::Suspend => {
@@ -331,7 +333,7 @@ impl<B: UsbBus> UsbDevice<'_, B> {
             }
         }
 
-        false
+        Ok(false)
     }
 
     fn control_in(&mut self, classes: &mut ClassList<'_, B>, req: control::Request) -> Result<()> {