diff --git a/esphome/components/dfrobot_sen0395/sensor.py b/esphome/components/dfrobot_sen0395/sensor.py
new file mode 100644
index 0000000000..67cac01cc4
--- /dev/null
+++ b/esphome/components/dfrobot_sen0395/sensor.py
@@ -0,0 +1,69 @@
+import esphome.codegen as cg
+import esphome.config_validation as cv
+from esphome.components import sensor
+from esphome.components.sensor import (
+    validate_unit_of_measurement,
+    validate_device_class,
+)
+from esphome.const import (
+    CONF_DEVICE_CLASS,
+    CONF_TYPE,
+    CONF_UNIT_OF_MEASUREMENT,
+    DEVICE_CLASS_DISTANCE,
+    ENTITY_CATEGORY_DIAGNOSTIC,
+    STATE_CLASS_MEASUREMENT,
+)
+from . import CONF_DFROBOT_SEN0395_ID, DfrobotSen0395Component
+
+DEPENDENCIES = ["dfrobot_sen0395"]
+
+CONF_TARGET_NUMBER = "target"
+
+_SENSOR_SCHEMA = (
+    sensor.sensor_schema(
+        entity_category=ENTITY_CATEGORY_DIAGNOSTIC,
+        state_class=STATE_CLASS_MEASUREMENT,
+        accuracy_decimals=2,
+    )
+    .extend(
+        {
+            cv.GenerateID(CONF_DFROBOT_SEN0395_ID): cv.use_id(DfrobotSen0395Component),
+            cv.Required(CONF_TARGET_NUMBER): cv.int_range(min=1, max=9),
+        }
+    )
+    .extend(cv.COMPONENT_SCHEMA)
+)
+
+CONFIG_SCHEMA = cv.typed_schema(
+    {
+        "distance": _SENSOR_SCHEMA.extend(
+            {
+                cv.Optional(
+                    CONF_UNIT_OF_MEASUREMENT, default="m"
+                ): validate_unit_of_measurement,
+                cv.Optional(
+                    CONF_DEVICE_CLASS, default=DEVICE_CLASS_DISTANCE
+                ): validate_device_class,
+            },
+        ),
+        "SNR": _SENSOR_SCHEMA.extend({}),
+    }
+)
+
+
+async def to_code(config):
+    parent = await cg.get_variable(config[CONF_DFROBOT_SEN0395_ID])
+    binary_sens = await sensor.new_sensor(config)
+
+    if config[CONF_TYPE] == "distance":
+        cg.add(
+            parent.set_detected_target_distance_sensor(
+                config[CONF_TARGET_NUMBER], binary_sens
+            )
+        )
+    elif config[CONF_TYPE] == "SNR":
+        cg.add(
+            parent.set_detected_target_snr_sensor(
+                config[CONF_TARGET_NUMBER], binary_sens
+            )
+        )