diff --git a/esphome/components/udp/udp_component.cpp b/esphome/components/udp/udp_component.cpp
index 3ba8fda12b..dfc5a319de 100644
--- a/esphome/components/udp/udp_component.cpp
+++ b/esphome/components/udp/udp_component.cpp
@@ -198,7 +198,12 @@ void UDPComponent::setup() {
     this->header_.push_back(0);
 #if defined(USE_SOCKET_IMPL_BSD_SOCKETS) || defined(USE_SOCKET_IMPL_LWIP_SOCKETS)
   for (const auto &address : this->addresses_) {
+#if USE_NETWORK_IPV6
     struct sockaddr_in6 saddr {};
+#else
+    struct sockaddr saddr {};
+#endif
+
     auto err = socket::set_sockaddr(reinterpret_cast<sockaddr *>(&saddr), sizeof(saddr), address, this->port_);
     if (err == 0) {
       ESP_LOGV(TAG, "Couldn't set sockaddr %d", errno);
@@ -589,19 +594,23 @@ void UDPComponent::increment_code_() {
 void UDPComponent::send_packet_(void *data, size_t len) {
 #if defined(USE_SOCKET_IMPL_BSD_SOCKETS) || defined(USE_SOCKET_IMPL_LWIP_SOCKETS)
   for (const auto &saddr : this->sockaddrs_) {
+#if USE_NETWORK_IPV6
     if (saddr.sin6_family == AF_INET) {
       auto result =
           this->broadcast_socket_->sendto(data, len, 0, reinterpret_cast<const sockaddr *>(&saddr), sizeof(saddr));
       if (result < 0)
         ESP_LOGW(TAG, "sendto() error %d", errno);
     }
-#if USE_NETWORK_IPV6
     if (saddr.sin6_family == AF_INET6) {
       auto result =
           this->broadcast_socket6_->sendto(data, len, 0, reinterpret_cast<const sockaddr *>(&saddr), sizeof(saddr));
       if (result < 0)
         ESP_LOGW(TAG, "sendto() error %d", errno);
     }
+#else
+    auto result = this->broadcast_socket_->sendto(data, len, 0, &saddr, sizeof(saddr));
+    if (result < 0)
+      ESP_LOGW(TAG, "sendto() error %d", errno);
 #endif
   }
 #else
diff --git a/esphome/components/udp/udp_component.h b/esphome/components/udp/udp_component.h
index cfb558fa48..6844843565 100644
--- a/esphome/components/udp/udp_component.h
+++ b/esphome/components/udp/udp_component.h
@@ -125,9 +125,11 @@ class UDPComponent : public PollingComponent {
   std::unique_ptr<socket::Socket> broadcast_socket_ = nullptr;
 #if USE_NETWORK_IPV6
   std::unique_ptr<socket::Socket> broadcast_socket6_ = nullptr;
+  std::vector<struct sockaddr_in6> sockaddrs_{};
+#else
+  std::vector<struct sockaddr> sockaddrs_{};
 #endif
   std::unique_ptr<socket::Socket> listen_socket_ = nullptr;
-  std::vector<struct sockaddr_in6> sockaddrs_{};
 #else
   std::vector<IPAddress> ipaddrs_{};
   WiFiUDP udp_client_{};