diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index a5bbd85b47..a5209c764a 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -364,7 +364,11 @@ void ESP32BLETracker::gap_event_handler(esp_gap_ble_cb_event_t event, esp_ble_ga
 }
 
 void ESP32BLETracker::gap_scan_set_param_complete_(const esp_ble_gap_cb_param_t::ble_scan_param_cmpl_evt_param &param) {
-  this->scan_set_param_failed_ = param.status;
+  if (param.status == ESP_BT_STATUS_DONE) {
+    this->scan_set_param_failed_ = ESP_BT_STATUS_SUCCESS;
+  } else {
+    this->scan_set_param_failed_ = param.status;
+  }
 }
 
 void ESP32BLETracker::gap_scan_start_complete_(const esp_ble_gap_cb_param_t::ble_scan_start_cmpl_evt_param &param) {