diff --git a/esphome/components/a4988/a4988.cpp b/esphome/components/a4988/a4988.cpp
index 99b677a9ab..4100563412 100644
--- a/esphome/components/a4988/a4988.cpp
+++ b/esphome/components/a4988/a4988.cpp
@@ -11,6 +11,7 @@ void A4988::setup() {
   if (this->sleep_pin_ != nullptr) {
     this->sleep_pin_->setup();
     this->sleep_pin_->digital_write(false);
+    this->sleep_pin_state_ = false;
   }
   this->step_pin_->setup();
   this->step_pin_->digital_write(false);
@@ -27,7 +28,12 @@ void A4988::dump_config() {
 void A4988::loop() {
   bool at_target = this->has_reached_target();
   if (this->sleep_pin_ != nullptr) {
+    bool sleep_rising_edge = !sleep_pin_state_ & !at_target;
     this->sleep_pin_->digital_write(!at_target);
+    this->sleep_pin_state_ = !at_target;
+    if (sleep_rising_edge) {
+      delayMicroseconds(1000);
+    }
   }
   if (at_target) {
     this->high_freq_.stop();
diff --git a/esphome/components/a4988/a4988.h b/esphome/components/a4988/a4988.h
index 10fb5e0015..5be0f3ce69 100644
--- a/esphome/components/a4988/a4988.h
+++ b/esphome/components/a4988/a4988.h
@@ -21,6 +21,7 @@ class A4988 : public stepper::Stepper, public Component {
   GPIOPin *step_pin_;
   GPIOPin *dir_pin_;
   GPIOPin *sleep_pin_{nullptr};
+  bool sleep_pin_state_;
   HighFrequencyLoopRequester high_freq_;
 };