diff --git a/esphome/components/binary_sensor/__init__.py b/esphome/components/binary_sensor/__init__.py
index 40f95d72f9..d66b79a2d2 100644
--- a/esphome/components/binary_sensor/__init__.py
+++ b/esphome/components/binary_sensor/__init__.py
@@ -22,6 +22,7 @@ from esphome.const import (
     CONF_ON_PRESS,
     CONF_ON_RELEASE,
     CONF_ON_STATE,
+    CONF_PUBLISH_INITIAL_STATE,
     CONF_STATE,
     CONF_TIMING,
     CONF_TRIGGER_ID,
@@ -326,6 +327,7 @@ BINARY_SENSOR_SCHEMA = cv.ENTITY_BASE_SCHEMA.extend(cv.MQTT_COMPONENT_SCHEMA).ex
         cv.OnlyWith(CONF_MQTT_ID, "mqtt"): cv.declare_id(
             mqtt.MQTTBinarySensorComponent
         ),
+        cv.Optional(CONF_PUBLISH_INITIAL_STATE): cv.boolean,
         cv.Optional(CONF_DEVICE_CLASS): validate_device_class,
         cv.Optional(CONF_FILTERS): validate_filters,
         cv.Optional(CONF_ON_PRESS): automation.validate_automation(
@@ -418,6 +420,8 @@ async def setup_binary_sensor_core_(var, config):
 
     if CONF_DEVICE_CLASS in config:
         cg.add(var.set_device_class(config[CONF_DEVICE_CLASS]))
+    if CONF_PUBLISH_INITIAL_STATE in config:
+        cg.add(var.set_publish_initial_state(config[CONF_PUBLISH_INITIAL_STATE]))
     if CONF_INVERTED in config:
         cg.add(var.set_inverted(config[CONF_INVERTED]))
     if CONF_FILTERS in config:
diff --git a/esphome/components/binary_sensor/binary_sensor.cpp b/esphome/components/binary_sensor/binary_sensor.cpp
index 07217eebed..1f837e3ac1 100644
--- a/esphome/components/binary_sensor/binary_sensor.cpp
+++ b/esphome/components/binary_sensor/binary_sensor.cpp
@@ -37,7 +37,7 @@ void BinarySensor::send_state_internal(bool state, bool is_initial) {
   }
   this->has_state_ = true;
   this->state = state;
-  if (!is_initial) {
+  if (!is_initial || this->publish_initial_state_) {
     this->state_callback_.call(state);
   }
 }
diff --git a/esphome/components/binary_sensor/binary_sensor.h b/esphome/components/binary_sensor/binary_sensor.h
index 87d87b8eb4..b0c39a2c9b 100644
--- a/esphome/components/binary_sensor/binary_sensor.h
+++ b/esphome/components/binary_sensor/binary_sensor.h
@@ -58,6 +58,8 @@ class BinarySensor : public EntityBase {
   void add_filter(Filter *filter);
   void add_filters(const std::vector<Filter *> &filters);
 
+  void set_publish_initial_state(bool publish_initial_state) { this->publish_initial_state_ = publish_initial_state; }
+
   // ========== INTERNAL METHODS ==========
   // (In most use cases you won't need these)
   void send_state_internal(bool state, bool is_initial);
@@ -80,6 +82,7 @@ class BinarySensor : public EntityBase {
   optional<std::string> device_class_{};  ///< Stores the override of the device class
   Filter *filter_list_{nullptr};
   bool has_state_{false};
+  bool publish_initial_state_{false};
   Deduplicator<bool> publish_dedup_;
 };
 
diff --git a/esphome/const.py b/esphome/const.py
index df3654639d..9e83c63fd5 100644
--- a/esphome/const.py
+++ b/esphome/const.py
@@ -533,6 +533,7 @@ CONF_PRESSURE = "pressure"
 CONF_PRIORITY = "priority"
 CONF_PROJECT = "project"
 CONF_PROTOCOL = "protocol"
+CONF_PUBLISH_INITIAL_STATE = "publish_initial_state"
 CONF_PULL_MODE = "pull_mode"
 CONF_PULLDOWN = "pulldown"
 CONF_PULLUP = "pullup"