diff --git a/esphome/components/sensor/__init__.py b/esphome/components/sensor/__init__.py
index cb74a41119..4b2e9dc019 100644
--- a/esphome/components/sensor/__init__.py
+++ b/esphome/components/sensor/__init__.py
@@ -160,6 +160,7 @@ SlidingWindowMovingAverageFilter = sensor_ns.class_(
 ExponentialMovingAverageFilter = sensor_ns.class_(
     "ExponentialMovingAverageFilter", Filter
 )
+ThrottleAverageFilter = sensor_ns.class_("ThrottleAverageFilter", Filter, cg.Component)
 LambdaFilter = sensor_ns.class_("LambdaFilter", Filter)
 OffsetFilter = sensor_ns.class_("OffsetFilter", Filter)
 MultiplyFilter = sensor_ns.class_("MultiplyFilter", Filter)
@@ -381,6 +382,15 @@ async def exponential_moving_average_filter_to_code(config, filter_id):
     return cg.new_Pvariable(filter_id, config[CONF_ALPHA], config[CONF_SEND_EVERY])
 
 
+@FILTER_REGISTRY.register(
+    "throttle_average", ThrottleAverageFilter, cv.positive_time_period_milliseconds
+)
+async def throttle_average_filter_to_code(config, filter_id):
+    var = cg.new_Pvariable(filter_id, config)
+    await cg.register_component(var, {})
+    return var
+
+
 @FILTER_REGISTRY.register("lambda", LambdaFilter, cv.returning_lambda)
 async def lambda_filter_to_code(config, filter_id):
     lambda_ = await cg.process_lambda(
diff --git a/esphome/components/sensor/filter.cpp b/esphome/components/sensor/filter.cpp
index 63801e7996..321e3a4a4f 100644
--- a/esphome/components/sensor/filter.cpp
+++ b/esphome/components/sensor/filter.cpp
@@ -187,6 +187,31 @@ optional<float> ExponentialMovingAverageFilter::new_value(float value) {
 void ExponentialMovingAverageFilter::set_send_every(size_t send_every) { this->send_every_ = send_every; }
 void ExponentialMovingAverageFilter::set_alpha(float alpha) { this->alpha_ = alpha; }
 
+// ThrottleAverageFilter
+ThrottleAverageFilter::ThrottleAverageFilter(uint32_t time_period) : time_period_(time_period) {}
+
+optional<float> ThrottleAverageFilter::new_value(float value) {
+  ESP_LOGVV(TAG, "ThrottleAverageFilter(%p)::new_value(value=%f)", this, value);
+  if (!std::isnan(value)) {
+    this->sum_ += value;
+    this->n_++;
+  }
+  return {};
+}
+void ThrottleAverageFilter::setup() {
+  this->set_interval("throttle_average", this->time_period_, [this]() {
+    ESP_LOGVV(TAG, "ThrottleAverageFilter(%p)::interval(sum=%f, n=%i)", this, this->sum_, this->n_);
+    if (this->n_ == 0) {
+      this->output(NAN);
+    } else {
+      this->output(this->sum_ / this->n_);
+      this->sum_ = 0.0f;
+      this->n_ = 0;
+    }
+  });
+}
+float ThrottleAverageFilter::get_setup_priority() const { return setup_priority::HARDWARE; }
+
 // LambdaFilter
 LambdaFilter::LambdaFilter(lambda_filter_t lambda_filter) : lambda_filter_(std::move(lambda_filter)) {}
 const lambda_filter_t &LambdaFilter::get_lambda_filter() const { return this->lambda_filter_; }
diff --git a/esphome/components/sensor/filter.h b/esphome/components/sensor/filter.h
index 29a6813ea9..d595e419a6 100644
--- a/esphome/components/sensor/filter.h
+++ b/esphome/components/sensor/filter.h
@@ -178,6 +178,26 @@ class ExponentialMovingAverageFilter : public Filter {
   float alpha_;
 };
 
+/** Simple throttle average filter.
+ *
+ * It takes the average of all the values received in a period of time.
+ */
+class ThrottleAverageFilter : public Filter, public Component {
+ public:
+  explicit ThrottleAverageFilter(uint32_t time_period);
+
+  void setup() override;
+
+  optional<float> new_value(float value) override;
+
+  float get_setup_priority() const override;
+
+ protected:
+  uint32_t time_period_;
+  float sum_{0.0f};
+  unsigned int n_{0};
+};
+
 using lambda_filter_t = std::function<optional<float>(float)>;
 
 /** This class allows for creation of simple template filters.
diff --git a/tests/test1.yaml b/tests/test1.yaml
index 540a715dde..157ccfc5d1 100644
--- a/tests/test1.yaml
+++ b/tests/test1.yaml
@@ -343,6 +343,7 @@ sensor:
       - exponential_moving_average:
           alpha: 0.1
           send_every: 15
+      - throttle_average: 60s
       - throttle: 1s
       - heartbeat: 5s
       - debounce: 0.1s