diff --git a/esphome/components/canbus/__init__.py b/esphome/components/canbus/__init__.py
index 808b31d1d2..5f614eb0a4 100644
--- a/esphome/components/canbus/__init__.py
+++ b/esphome/components/canbus/__init__.py
@@ -8,6 +8,7 @@ CODEOWNERS = ["@mvturnho", "@danielschramm"]
 IS_PLATFORM_COMPONENT = True
 
 CONF_CAN_ID = "can_id"
+CONF_CAN_ID_MASK = "can_id_mask"
 CONF_USE_EXTENDED_ID = "use_extended_id"
 CONF_CANBUS_ID = "canbus_id"
 CONF_BIT_RATE = "bit_rate"
@@ -38,7 +39,7 @@ canbus_ns = cg.esphome_ns.namespace("canbus")
 CanbusComponent = canbus_ns.class_("CanbusComponent", cg.Component)
 CanbusTrigger = canbus_ns.class_(
     "CanbusTrigger",
-    automation.Trigger.template(cg.std_vector.template(cg.uint8)),
+    automation.Trigger.template(cg.std_vector.template(cg.uint8), cg.uint32),
     cg.Component,
 )
 CanSpeed = canbus_ns.enum("CAN_SPEED")
@@ -72,6 +73,9 @@ CANBUS_SCHEMA = cv.Schema(
             {
                 cv.GenerateID(CONF_TRIGGER_ID): cv.declare_id(CanbusTrigger),
                 cv.Required(CONF_CAN_ID): cv.int_range(min=0, max=0x1FFFFFFF),
+                cv.Optional(CONF_CAN_ID_MASK, default=0x1FFFFFFF): cv.int_range(
+                    min=0, max=0x1FFFFFFF
+                ),
                 cv.Optional(CONF_USE_EXTENDED_ID, default=False): cv.boolean,
             },
             validate_id,
@@ -90,11 +94,16 @@ async def setup_canbus_core_(var, config):
 
     for conf in config.get(CONF_ON_FRAME, []):
         can_id = conf[CONF_CAN_ID]
+        can_id_mask = conf[CONF_CAN_ID_MASK]
         ext_id = conf[CONF_USE_EXTENDED_ID]
-        trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID], var, can_id, ext_id)
+        trigger = cg.new_Pvariable(
+            conf[CONF_TRIGGER_ID], var, can_id, can_id_mask, ext_id
+        )
         await cg.register_component(trigger, conf)
         await automation.build_automation(
-            trigger, [(cg.std_vector.template(cg.uint8), "x")], conf
+            trigger,
+            [(cg.std_vector.template(cg.uint8), "x"), (cg.uint32, "can_id")],
+            conf,
         )
 
 
@@ -126,7 +135,6 @@ async def canbus_action_to_code(config, action_id, template_arg, args):
     if CONF_CAN_ID in config:
         can_id = await cg.templatable(config[CONF_CAN_ID], args, cg.uint32)
         cg.add(var.set_can_id(can_id))
-
     use_extended_id = await cg.templatable(
         config[CONF_USE_EXTENDED_ID], args, cg.uint32
     )
diff --git a/esphome/components/canbus/canbus.cpp b/esphome/components/canbus/canbus.cpp
index d9f6ded85d..14dc1544cf 100644
--- a/esphome/components/canbus/canbus.cpp
+++ b/esphome/components/canbus/canbus.cpp
@@ -78,8 +78,9 @@ void Canbus::loop() {
 
     // fire all triggers
     for (auto *trigger : this->triggers_) {
-      if ((trigger->can_id_ == can_message.can_id) && (trigger->use_extended_id_ == can_message.use_extended_id)) {
-        trigger->trigger(data);
+      if ((trigger->can_id_ == (can_message.can_id & trigger->can_id_mask_)) &&
+          (trigger->use_extended_id_ == can_message.use_extended_id)) {
+        trigger->trigger(data, can_message.can_id);
       }
     }
   }
diff --git a/esphome/components/canbus/canbus.h b/esphome/components/canbus/canbus.h
index 37adf0bc9c..0491e8d3c1 100644
--- a/esphome/components/canbus/canbus.h
+++ b/esphome/components/canbus/canbus.h
@@ -116,17 +116,19 @@ template<typename... Ts> class CanbusSendAction : public Action<Ts...>, public P
   std::vector<uint8_t> data_static_{};
 };
 
-class CanbusTrigger : public Trigger<std::vector<uint8_t>>, public Component {
+class CanbusTrigger : public Trigger<std::vector<uint8_t>, uint32_t>, public Component {
   friend class Canbus;
 
  public:
-  explicit CanbusTrigger(Canbus *parent, const std::uint32_t can_id, const bool use_extended_id)
-      : parent_(parent), can_id_(can_id), use_extended_id_(use_extended_id){};
+  explicit CanbusTrigger(Canbus *parent, const std::uint32_t can_id, const std::uint32_t can_id_mask,
+                         const bool use_extended_id)
+      : parent_(parent), can_id_(can_id), can_id_mask_(can_id_mask), use_extended_id_(use_extended_id){};
   void setup() override { this->parent_->add_trigger(this); }
 
  protected:
   Canbus *parent_;
   uint32_t can_id_;
+  uint32_t can_id_mask_;
   bool use_extended_id_;
 };
 
diff --git a/tests/test1.yaml b/tests/test1.yaml
index d8fea223dc..54343f59c7 100644
--- a/tests/test1.yaml
+++ b/tests/test1.yaml
@@ -2551,6 +2551,25 @@ canbus:
                 lambda: "return x[0] == 0x11;"
               then:
                 light.toggle: ${roomname}_lights
+      - can_id:      0b00000000000000000000001000000
+        can_id_mask: 0b11111000000000011111111000000
+        use_extended_id: true
+        then:
+          - lambda: |-
+              auto pdo_id = can_id >> 14;
+              switch (pdo_id)
+              {
+                case 117:
+                  ESP_LOGD("canbus", "exhaust_fan_duty");
+                  break;
+                case 118:
+                  ESP_LOGD("canbus", "supply_fan_duty");
+                  break;
+                case 119:
+                  ESP_LOGD("canbus", "supply_fan_flow");
+                  break;
+                // to be continued...
+              }
   - platform: esp32_can
     id: esp32_internal_can
     rx_pin: GPIO04
@@ -2570,6 +2589,25 @@ canbus:
                 lambda: "return x[0] == 0x11;"
               then:
                 light.toggle: ${roomname}_lights
+      - can_id:      0b00000000000000000000001000000
+        can_id_mask: 0b11111000000000011111111000000
+        use_extended_id: true
+        then:
+          - lambda: |-
+              auto pdo_id = can_id >> 14;
+              switch (pdo_id)
+              {
+                case 117:
+                  ESP_LOGD("canbus", "exhaust_fan_duty");
+                  break;
+                case 118:
+                  ESP_LOGD("canbus", "supply_fan_duty");
+                  break;
+                case 119:
+                  ESP_LOGD("canbus", "supply_fan_flow");
+                  break;
+                // to be continued...
+              }
 
 teleinfo:
   id: myteleinfo