diff --git a/esphome/components/udp/udp_component.cpp b/esphome/components/udp/udp_component.cpp
index 3fcef9e4f9..c6a36b4765 100644
--- a/esphome/components/udp/udp_component.cpp
+++ b/esphome/components/udp/udp_component.cpp
@@ -262,7 +262,8 @@ void UDPComponent::setup() {
       return;
     }
   }
-#else
+#endif
+#ifdef USE_SOCKET_IMPL_LWIP_TCP
   // 8266 and RP2040 `Duino
   for (const auto &address : this->addresses_) {
     auto ipaddr = IPAddress();
@@ -371,7 +372,8 @@ void UDPComponent::loop() {
     for (;;) {
 #if defined(USE_SOCKET_IMPL_BSD_SOCKETS) || defined(USE_SOCKET_IMPL_LWIP_SOCKETS)
       auto len = this->listen_socket_->read(buf, sizeof(buf));
-#else
+#endif
+#ifdef USE_SOCKET_IMPL_LWIP_TCP
       auto len = this->udp_client_.parsePacket();
       if (len > 0)
         len = this->udp_client_.read(buf, sizeof(buf));
@@ -588,7 +590,8 @@ void UDPComponent::send_packet_(void *data, size_t len) {
     if (result < 0)
       ESP_LOGW(TAG, "sendto() error %d", errno);
   }
-#else
+#endif
+#ifdef USE_SOCKET_IMPL_LWIP_TCP
   auto iface = IPAddress(0, 0, 0, 0);
   for (const auto &saddr : this->ipaddrs_) {
     if (this->udp_client_.beginPacketMulticast(saddr, this->port_, iface, 128) != 0) {
diff --git a/esphome/components/udp/udp_component.h b/esphome/components/udp/udp_component.h
index bbe46a562f..8c1ea2fdb8 100644
--- a/esphome/components/udp/udp_component.h
+++ b/esphome/components/udp/udp_component.h
@@ -10,7 +10,8 @@
 #endif
 #if defined(USE_SOCKET_IMPL_BSD_SOCKETS) || defined(USE_SOCKET_IMPL_LWIP_SOCKETS)
 #include "esphome/components/socket/socket.h"
-#else
+#endif
+#ifdef USE_SOCKET_IMPL_LWIP_TCP
 #include <WiFiUdp.h>
 #endif
 #include <vector>
@@ -126,7 +127,8 @@ class UDPComponent : public PollingComponent {
   std::unique_ptr<socket::Socket> broadcast_socket_ = nullptr;
   std::unique_ptr<socket::Socket> listen_socket_ = nullptr;
   std::vector<struct sockaddr> sockaddrs_{};
-#else
+#endif
+#ifdef USE_SOCKET_IMPL_LWIP_TCP
   std::vector<IPAddress> ipaddrs_{};
   WiFiUDP udp_client_{};
 #endif