diff --git a/esphome/components/web_server/web_server.cpp b/esphome/components/web_server/web_server.cpp
index 30ac959e43..1f043b43fc 100644
--- a/esphome/components/web_server/web_server.cpp
+++ b/esphome/components/web_server/web_server.cpp
@@ -83,6 +83,13 @@ UrlMatch match_url(const std::string &url, bool only_domain = false) {
   return match;
 }
 
+WebServer::WebServer(web_server_base::WebServerBase *base)
+    : base_(base), entities_iterator_(ListEntitiesIterator(this)) {
+#ifdef USE_ESP32
+  to_schedule_lock_ = xSemaphoreCreateMutex();
+#endif
+}
+
 void WebServer::set_css_url(const char *css_url) { this->css_url_ = css_url; }
 void WebServer::set_css_include(const char *css_include) { this->css_include_ = css_include; }
 void WebServer::set_js_url(const char *js_url) { this->js_url_ = js_url; }
@@ -120,7 +127,25 @@ void WebServer::setup() {
 
   this->set_interval(10000, [this]() { this->events_.send("", "ping", millis(), 30000); });
 }
-void WebServer::loop() { this->entities_iterator_.advance(); }
+void WebServer::loop() {
+#ifdef USE_ESP32
+  if (xSemaphoreTake(this->to_schedule_lock_, 0L)) {
+    std::function<void()> fn;
+    if (!to_schedule_.empty()) {
+      // scheduler execute things out of order which may lead to incorrect state
+      // this->defer(std::move(to_schedule_.front()));
+      // let's execute it directly from the loop
+      fn = std::move(to_schedule_.front());
+      to_schedule_.pop_front();
+    }
+    xSemaphoreGive(this->to_schedule_lock_);
+    if (fn) {
+      fn();
+    }
+  }
+#endif
+  this->entities_iterator_.advance();
+}
 void WebServer::dump_config() {
   ESP_LOGCONFIG(TAG, "Web Server:");
   ESP_LOGCONFIG(TAG, "  Address: %s:%u", network::get_use_address().c_str(), this->base_->get_port());
@@ -413,13 +438,13 @@ void WebServer::handle_switch_request(AsyncWebServerRequest *request, const UrlM
       std::string data = this->switch_json(obj, obj->state, DETAIL_STATE);
       request->send(200, "application/json", data.c_str());
     } else if (match.method == "toggle") {
-      this->defer([obj]() { obj->toggle(); });
+      this->schedule_([obj]() { obj->toggle(); });
       request->send(200);
     } else if (match.method == "turn_on") {
-      this->defer([obj]() { obj->turn_on(); });
+      this->schedule_([obj]() { obj->turn_on(); });
       request->send(200);
     } else if (match.method == "turn_off") {
-      this->defer([obj]() { obj->turn_off(); });
+      this->schedule_([obj]() { obj->turn_off(); });
       request->send(200);
     } else {
       request->send(404);
@@ -441,7 +466,7 @@ void WebServer::handle_button_request(AsyncWebServerRequest *request, const UrlM
     if (obj->get_object_id() != match.id)
       continue;
     if (request->method() == HTTP_POST && match.method == "press") {
-      this->defer([obj]() { obj->press(); });
+      this->schedule_([obj]() { obj->press(); });
       request->send(200);
       return;
     } else {
@@ -497,7 +522,7 @@ void WebServer::handle_fan_request(AsyncWebServerRequest *request, const UrlMatc
       std::string data = this->fan_json(obj, DETAIL_STATE);
       request->send(200, "application/json", data.c_str());
     } else if (match.method == "toggle") {
-      this->defer([obj]() { obj->toggle().perform(); });
+      this->schedule_([obj]() { obj->toggle().perform(); });
       request->send(200);
     } else if (match.method == "turn_on") {
       auto call = obj->turn_on();
@@ -531,10 +556,10 @@ void WebServer::handle_fan_request(AsyncWebServerRequest *request, const UrlMatc
             return;
         }
       }
-      this->defer([call]() mutable { call.perform(); });
+      this->schedule_([call]() mutable { call.perform(); });
       request->send(200);
     } else if (match.method == "turn_off") {
-      this->defer([obj]() { obj->turn_off().perform(); });
+      this->schedule_([obj]() { obj->turn_off().perform(); });
       request->send(200);
     } else {
       request->send(404);
@@ -558,7 +583,7 @@ void WebServer::handle_light_request(AsyncWebServerRequest *request, const UrlMa
       std::string data = this->light_json(obj, DETAIL_STATE);
       request->send(200, "application/json", data.c_str());
     } else if (match.method == "toggle") {
-      this->defer([obj]() { obj->toggle().perform(); });
+      this->schedule_([obj]() { obj->toggle().perform(); });
       request->send(200);
     } else if (match.method == "turn_on") {
       auto call = obj->turn_on();
@@ -590,7 +615,7 @@ void WebServer::handle_light_request(AsyncWebServerRequest *request, const UrlMa
         call.set_effect(effect);
       }
 
-      this->defer([call]() mutable { call.perform(); });
+      this->schedule_([call]() mutable { call.perform(); });
       request->send(200);
     } else if (match.method == "turn_off") {
       auto call = obj->turn_off();
@@ -598,7 +623,7 @@ void WebServer::handle_light_request(AsyncWebServerRequest *request, const UrlMa
         auto length = (uint32_t) request->getParam("transition")->value().toFloat() * 1000;
         call.set_transition_length(length);
       }
-      this->defer([call]() mutable { call.perform(); });
+      this->schedule_([call]() mutable { call.perform(); });
       request->send(200);
     } else {
       request->send(404);
@@ -663,7 +688,7 @@ void WebServer::handle_cover_request(AsyncWebServerRequest *request, const UrlMa
     if (request->hasParam("tilt"))
       call.set_tilt(request->getParam("tilt")->value().toFloat());
 
-    this->defer([call]() mutable { call.perform(); });
+    this->schedule_([call]() mutable { call.perform(); });
     request->send(200);
     return;
   }
@@ -708,7 +733,7 @@ void WebServer::handle_number_request(AsyncWebServerRequest *request, const UrlM
         call.set_value(*value_f);
     }
 
-    this->defer([call]() mutable { call.perform(); });
+    this->schedule_([call]() mutable { call.perform(); });
     request->send(200);
     return;
   }
@@ -765,7 +790,7 @@ void WebServer::handle_select_request(AsyncWebServerRequest *request, const UrlM
       call.set_option(option.c_str());  // NOLINT(clang-diagnostic-deprecated-declarations)
     }
 
-    this->defer([call]() mutable { call.perform(); });
+    this->schedule_([call]() mutable { call.perform(); });
     request->send(200);
     return;
   }
@@ -833,7 +858,7 @@ void WebServer::handle_climate_request(AsyncWebServerRequest *request, const Url
         call.set_target_temperature(*value_f);
     }
 
-    this->defer([call]() mutable { call.perform(); });
+    this->schedule_([call]() mutable { call.perform(); });
     request->send(200);
     return;
   }
@@ -949,13 +974,13 @@ void WebServer::handle_lock_request(AsyncWebServerRequest *request, const UrlMat
       std::string data = this->lock_json(obj, obj->state, DETAIL_STATE);
       request->send(200, "application/json", data.c_str());
     } else if (match.method == "lock") {
-      this->defer([obj]() { obj->lock(); });
+      this->schedule_([obj]() { obj->lock(); });
       request->send(200);
     } else if (match.method == "unlock") {
-      this->defer([obj]() { obj->unlock(); });
+      this->schedule_([obj]() { obj->unlock(); });
       request->send(200);
     } else if (match.method == "open") {
-      this->defer([obj]() { obj->open(); });
+      this->schedule_([obj]() { obj->open(); });
       request->send(200);
     } else {
       request->send(404);
@@ -1154,6 +1179,16 @@ void WebServer::handleRequest(AsyncWebServerRequest *request) {
 
 bool WebServer::isRequestHandlerTrivial() { return false; }
 
+void WebServer::schedule_(std::function<void()> &&f) {
+#ifdef USE_ESP32
+  xSemaphoreTake(this->to_schedule_lock_, portMAX_DELAY);
+  to_schedule_.push_back(std::move(f));
+  xSemaphoreGive(this->to_schedule_lock_);
+#else
+  this->defer(std::move(f));
+#endif
+}
+
 }  // namespace web_server
 }  // namespace esphome
 
diff --git a/esphome/components/web_server/web_server.h b/esphome/components/web_server/web_server.h
index 78d0597e61..f4122ef754 100644
--- a/esphome/components/web_server/web_server.h
+++ b/esphome/components/web_server/web_server.h
@@ -9,7 +9,11 @@
 #include "esphome/core/controller.h"
 
 #include <vector>
-
+#ifdef USE_ESP32
+#include <deque>
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+#endif
 namespace esphome {
 namespace web_server {
 
@@ -34,7 +38,7 @@ enum JsonDetail { DETAIL_ALL, DETAIL_STATE };
  */
 class WebServer : public Controller, public Component, public AsyncWebHandler {
  public:
-  WebServer(web_server_base::WebServerBase *base) : base_(base), entities_iterator_(ListEntitiesIterator(this)) {}
+  WebServer(web_server_base::WebServerBase *base);
 
   /** Set the URL to the CSS <link> that's sent to each client. Defaults to
    * https://esphome.io/_static/webserver-v1.min.css
@@ -220,6 +224,7 @@ class WebServer : public Controller, public Component, public AsyncWebHandler {
   bool isRequestHandlerTrivial() override;
 
  protected:
+  void schedule_(std::function<void()> &&f);
   friend ListEntitiesIterator;
   web_server_base::WebServerBase *base_;
   AsyncEventSource events_{"/events"};
@@ -230,6 +235,10 @@ class WebServer : public Controller, public Component, public AsyncWebHandler {
   const char *js_include_{nullptr};
   bool include_internal_{false};
   bool allow_ota_{true};
+#ifdef USE_ESP32
+  std::deque<std::function<void()>> to_schedule_;
+  SemaphoreHandle_t to_schedule_lock_;
+#endif
 };
 
 }  // namespace web_server