diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index 74b4b9aa89..b86d32ee61 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -65,6 +65,9 @@ void ESP32BLETracker::setup() {
       [this](ota::OTAState state, float progress, uint8_t error, ota::OTAComponent *comp) {
         if (state == ota::OTA_STARTED) {
           this->stop_scan();
+          for (auto *client : this->clients_) {
+            client->disconnect();
+          }
         }
       });
 #endif
diff --git a/tests/components/esp32_ble_tracker/common.yaml b/tests/components/esp32_ble_tracker/common.yaml
index ef23635c9e..018bbb42b3 100644
--- a/tests/components/esp32_ble_tracker/common.yaml
+++ b/tests/components/esp32_ble_tracker/common.yaml
@@ -39,3 +39,10 @@ esp32_ble_tracker:
     - then:
         - lambda: |-
              ESP_LOGD("ble_auto", "The scan has ended!");
+
+wifi:
+  ssid: MySSID
+  password: password1
+
+ota:
+  - platform: esphome