diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index 853e998c80..fb377e2be2 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -705,8 +705,13 @@ void ESPBTDevice::parse_adv_(const esp_ble_gap_cb_param_t::ble_scan_result_evt_p
 
   while (offset + 2 < len) {
     const uint8_t field_length = payload[offset++];  // First byte is length of adv record
-    if (field_length == 0)
+    if (field_length == 0) {
+      if (offset < param.adv_data_len && param.scan_rsp_len > 0) {  // Zero padded advertisement data
+        offset = param.adv_data_len;
+        continue;
+      }
       break;
+    }
 
     // first byte of adv record is adv record type
     const uint8_t record_type = payload[offset++];