diff --git a/esphome/components/api/api.proto b/esphome/components/api/api.proto
index 34d137981e..04db649aef 100644
--- a/esphome/components/api/api.proto
+++ b/esphome/components/api/api.proto
@@ -859,6 +859,10 @@ message ListEntitiesClimateResponse {
   string icon = 19;
   EntityCategory entity_category = 20;
   float visual_current_temperature_step = 21;
+  bool supports_current_humidity = 22;
+  bool supports_target_humidity = 23;
+  float visual_min_humidity = 24;
+  float visual_max_humidity = 25;
 }
 message ClimateStateResponse {
   option (id) = 47;
@@ -879,6 +883,8 @@ message ClimateStateResponse {
   string custom_fan_mode = 11;
   ClimatePreset preset = 12;
   string custom_preset = 13;
+  float current_humidity = 14;
+  float target_humidity = 15;
 }
 message ClimateCommandRequest {
   option (id) = 48;
@@ -907,6 +913,8 @@ message ClimateCommandRequest {
   ClimatePreset preset = 19;
   bool has_custom_preset = 20;
   string custom_preset = 21;
+  bool has_target_humidity = 22;
+  float target_humidity = 23;
 }
 
 // ==================== NUMBER ====================
diff --git a/esphome/components/api/api_connection.cpp b/esphome/components/api/api_connection.cpp
index b8f5b05538..d5ab00a822 100644
--- a/esphome/components/api/api_connection.cpp
+++ b/esphome/components/api/api_connection.cpp
@@ -560,6 +560,10 @@ bool APIConnection::send_climate_state(climate::Climate *climate) {
     resp.custom_preset = climate->custom_preset.value();
   if (traits.get_supports_swing_modes())
     resp.swing_mode = static_cast<enums::ClimateSwingMode>(climate->swing_mode);
+  if (traits.get_supports_current_humidity())
+    resp.current_humidity = climate->current_humidity;
+  if (traits.get_supports_target_humidity())
+    resp.target_humidity = climate->target_humidity;
   return this->send_climate_state_response(resp);
 }
 bool APIConnection::send_climate_info(climate::Climate *climate) {
@@ -576,7 +580,9 @@ bool APIConnection::send_climate_info(climate::Climate *climate) {
   msg.entity_category = static_cast<enums::EntityCategory>(climate->get_entity_category());
 
   msg.supports_current_temperature = traits.get_supports_current_temperature();
+  msg.supports_current_humidity = traits.get_supports_current_humidity();
   msg.supports_two_point_target_temperature = traits.get_supports_two_point_target_temperature();
+  msg.supports_target_humidity = traits.get_supports_target_humidity();
 
   for (auto mode : traits.get_supported_modes())
     msg.supported_modes.push_back(static_cast<enums::ClimateMode>(mode));
@@ -585,6 +591,8 @@ bool APIConnection::send_climate_info(climate::Climate *climate) {
   msg.visual_max_temperature = traits.get_visual_max_temperature();
   msg.visual_target_temperature_step = traits.get_visual_target_temperature_step();
   msg.visual_current_temperature_step = traits.get_visual_current_temperature_step();
+  msg.visual_min_humidity = traits.get_visual_min_humidity();
+  msg.visual_max_humidity = traits.get_visual_max_humidity();
 
   msg.legacy_supports_away = traits.supports_preset(climate::CLIMATE_PRESET_AWAY);
   msg.supports_action = traits.get_supports_action();
@@ -615,6 +623,8 @@ void APIConnection::climate_command(const ClimateCommandRequest &msg) {
     call.set_target_temperature_low(msg.target_temperature_low);
   if (msg.has_target_temperature_high)
     call.set_target_temperature_high(msg.target_temperature_high);
+  if (msg.has_target_humidity)
+    call.set_target_humidity(msg.target_humidity);
   if (msg.has_fan_mode)
     call.set_fan_mode(static_cast<climate::ClimateFanMode>(msg.fan_mode));
   if (msg.has_custom_fan_mode)
diff --git a/esphome/components/api/api_pb2.cpp b/esphome/components/api/api_pb2.cpp
index 01fb540e7e..8dd34e7ef1 100644
--- a/esphome/components/api/api_pb2.cpp
+++ b/esphome/components/api/api_pb2.cpp
@@ -3611,6 +3611,14 @@ bool ListEntitiesClimateResponse::decode_varint(uint32_t field_id, ProtoVarInt v
       this->entity_category = value.as_enum<enums::EntityCategory>();
       return true;
     }
+    case 22: {
+      this->supports_current_humidity = value.as_bool();
+      return true;
+    }
+    case 23: {
+      this->supports_target_humidity = value.as_bool();
+      return true;
+    }
     default:
       return false;
   }
@@ -3667,6 +3675,14 @@ bool ListEntitiesClimateResponse::decode_32bit(uint32_t field_id, Proto32Bit val
       this->visual_current_temperature_step = value.as_float();
       return true;
     }
+    case 24: {
+      this->visual_min_humidity = value.as_float();
+      return true;
+    }
+    case 25: {
+      this->visual_max_humidity = value.as_float();
+      return true;
+    }
     default:
       return false;
   }
@@ -3705,6 +3721,10 @@ void ListEntitiesClimateResponse::encode(ProtoWriteBuffer buffer) const {
   buffer.encode_string(19, this->icon);
   buffer.encode_enum<enums::EntityCategory>(20, this->entity_category);
   buffer.encode_float(21, this->visual_current_temperature_step);
+  buffer.encode_bool(22, this->supports_current_humidity);
+  buffer.encode_bool(23, this->supports_target_humidity);
+  buffer.encode_float(24, this->visual_min_humidity);
+  buffer.encode_float(25, this->visual_max_humidity);
 }
 #ifdef HAS_PROTO_MESSAGE_DUMP
 void ListEntitiesClimateResponse::dump_to(std::string &out) const {
@@ -3810,7 +3830,24 @@ void ListEntitiesClimateResponse::dump_to(std::string &out) const {
   sprintf(buffer, "%g", this->visual_current_temperature_step);
   out.append(buffer);
   out.append("\n");
-  out.append("}");
+
+  out.append("  supports_current_humidity: ");
+  out.append(YESNO(this->supports_current_humidity));
+  out.append("\n");
+
+  out.append("  supports_target_humidity: ");
+  out.append(YESNO(this->supports_target_humidity));
+  out.append("\n");
+
+  out.append("  visual_min_humidity: ");
+  sprintf(buffer, "%g", this->visual_min_humidity);
+  out.append(buffer);
+  out.append("\n");
+
+  out.append("  visual_max_humidity: ");
+  sprintf(buffer, "%g", this->visual_max_humidity);
+  out.append(buffer);
+  out.append("\n");
 }
 #endif
 bool ClimateStateResponse::decode_varint(uint32_t field_id, ProtoVarInt value) {
@@ -3879,6 +3916,14 @@ bool ClimateStateResponse::decode_32bit(uint32_t field_id, Proto32Bit value) {
       this->target_temperature_high = value.as_float();
       return true;
     }
+    case 14: {
+      this->current_humidity = value.as_float();
+      return true;
+    }
+    case 15: {
+      this->target_humidity = value.as_float();
+      return true;
+    }
     default:
       return false;
   }
@@ -3897,6 +3942,8 @@ void ClimateStateResponse::encode(ProtoWriteBuffer buffer) const {
   buffer.encode_string(11, this->custom_fan_mode);
   buffer.encode_enum<enums::ClimatePreset>(12, this->preset);
   buffer.encode_string(13, this->custom_preset);
+  buffer.encode_float(14, this->current_humidity);
+  buffer.encode_float(15, this->target_humidity);
 }
 #ifdef HAS_PROTO_MESSAGE_DUMP
 void ClimateStateResponse::dump_to(std::string &out) const {
@@ -3958,7 +4005,16 @@ void ClimateStateResponse::dump_to(std::string &out) const {
   out.append("  custom_preset: ");
   out.append("'").append(this->custom_preset).append("'");
   out.append("\n");
-  out.append("}");
+
+  out.append("  current_humidity: ");
+  sprintf(buffer, "%g", this->current_humidity);
+  out.append(buffer);
+  out.append("\n");
+
+  out.append("  target_humidity: ");
+  sprintf(buffer, "%g", this->target_humidity);
+  out.append(buffer);
+  out.append("\n");
 }
 #endif
 bool ClimateCommandRequest::decode_varint(uint32_t field_id, ProtoVarInt value) {
@@ -4023,6 +4079,10 @@ bool ClimateCommandRequest::decode_varint(uint32_t field_id, ProtoVarInt value)
       this->has_custom_preset = value.as_bool();
       return true;
     }
+    case 22: {
+      this->has_target_humidity = value.as_bool();
+      return true;
+    }
     default:
       return false;
   }
@@ -4059,6 +4119,10 @@ bool ClimateCommandRequest::decode_32bit(uint32_t field_id, Proto32Bit value) {
       this->target_temperature_high = value.as_float();
       return true;
     }
+    case 23: {
+      this->target_humidity = value.as_float();
+      return true;
+    }
     default:
       return false;
   }
@@ -4085,6 +4149,8 @@ void ClimateCommandRequest::encode(ProtoWriteBuffer buffer) const {
   buffer.encode_enum<enums::ClimatePreset>(19, this->preset);
   buffer.encode_bool(20, this->has_custom_preset);
   buffer.encode_string(21, this->custom_preset);
+  buffer.encode_bool(22, this->has_target_humidity);
+  buffer.encode_float(23, this->target_humidity);
 }
 #ifdef HAS_PROTO_MESSAGE_DUMP
 void ClimateCommandRequest::dump_to(std::string &out) const {
@@ -4177,6 +4243,15 @@ void ClimateCommandRequest::dump_to(std::string &out) const {
   out.append("  custom_preset: ");
   out.append("'").append(this->custom_preset).append("'");
   out.append("\n");
+
+  out.append("  has_target_humidity: ");
+  out.append(YESNO(this->has_target_humidity));
+  out.append("\n");
+
+  out.append("  target_humidity: ");
+  sprintf(buffer, "%g", this->target_humidity);
+  out.append(buffer);
+  out.append("\n");
   out.append("}");
 }
 #endif
diff --git a/esphome/components/api/api_pb2.h b/esphome/components/api/api_pb2.h
index fc57348863..02fc7b88f8 100644
--- a/esphome/components/api/api_pb2.h
+++ b/esphome/components/api/api_pb2.h
@@ -985,6 +985,10 @@ class ListEntitiesClimateResponse : public ProtoMessage {
   std::string icon{};
   enums::EntityCategory entity_category{};
   float visual_current_temperature_step{0.0f};
+  bool supports_current_humidity{false};
+  bool supports_target_humidity{false};
+  float visual_min_humidity{0.0f};
+  float visual_max_humidity{0.0f};
   void encode(ProtoWriteBuffer buffer) const override;
 #ifdef HAS_PROTO_MESSAGE_DUMP
   void dump_to(std::string &out) const override;
@@ -1010,6 +1014,8 @@ class ClimateStateResponse : public ProtoMessage {
   std::string custom_fan_mode{};
   enums::ClimatePreset preset{};
   std::string custom_preset{};
+  float current_humidity{0.0f};
+  float target_humidity{0.0f};
   void encode(ProtoWriteBuffer buffer) const override;
 #ifdef HAS_PROTO_MESSAGE_DUMP
   void dump_to(std::string &out) const override;
@@ -1043,6 +1049,8 @@ class ClimateCommandRequest : public ProtoMessage {
   enums::ClimatePreset preset{};
   bool has_custom_preset{false};
   std::string custom_preset{};
+  bool has_target_humidity{false};
+  float target_humidity{0.0f};
   void encode(ProtoWriteBuffer buffer) const override;
 #ifdef HAS_PROTO_MESSAGE_DUMP
   void dump_to(std::string &out) const override;
diff --git a/esphome/components/bang_bang/bang_bang_climate.cpp b/esphome/components/bang_bang/bang_bang_climate.cpp
index 20cb87025a..13b0cd2a09 100644
--- a/esphome/components/bang_bang/bang_bang_climate.cpp
+++ b/esphome/components/bang_bang/bang_bang_climate.cpp
@@ -15,6 +15,16 @@ void BangBangClimate::setup() {
     this->publish_state();
   });
   this->current_temperature = this->sensor_->state;
+
+  // register for humidity values and get initial state
+  if (this->humidity_sensor_ != nullptr) {
+    this->humidity_sensor_->add_on_state_callback([this](float state) {
+      this->current_humidity = state;
+      this->publish_state();
+    });
+    this->current_humidity = this->humidity_sensor_->state;
+  }
+
   // restore set points
   auto restore = this->restore_state_();
   if (restore.has_value()) {
@@ -47,6 +57,8 @@ void BangBangClimate::control(const climate::ClimateCall &call) {
 climate::ClimateTraits BangBangClimate::traits() {
   auto traits = climate::ClimateTraits();
   traits.set_supports_current_temperature(true);
+  if (this->humidity_sensor_ != nullptr)
+    traits.set_supports_current_humidity(true);
   traits.set_supported_modes({
       climate::CLIMATE_MODE_OFF,
   });
@@ -171,6 +183,7 @@ void BangBangClimate::set_away_config(const BangBangClimateTargetTempConfig &awa
 BangBangClimate::BangBangClimate()
     : idle_trigger_(new Trigger<>()), cool_trigger_(new Trigger<>()), heat_trigger_(new Trigger<>()) {}
 void BangBangClimate::set_sensor(sensor::Sensor *sensor) { this->sensor_ = sensor; }
+void BangBangClimate::set_humidity_sensor(sensor::Sensor *humidity_sensor) { this->humidity_sensor_ = humidity_sensor; }
 Trigger<> *BangBangClimate::get_idle_trigger() const { return this->idle_trigger_; }
 Trigger<> *BangBangClimate::get_cool_trigger() const { return this->cool_trigger_; }
 void BangBangClimate::set_supports_cool(bool supports_cool) { this->supports_cool_ = supports_cool; }
diff --git a/esphome/components/bang_bang/bang_bang_climate.h b/esphome/components/bang_bang/bang_bang_climate.h
index 84bcd51f34..96368af34c 100644
--- a/esphome/components/bang_bang/bang_bang_climate.h
+++ b/esphome/components/bang_bang/bang_bang_climate.h
@@ -24,6 +24,7 @@ class BangBangClimate : public climate::Climate, public Component {
   void dump_config() override;
 
   void set_sensor(sensor::Sensor *sensor);
+  void set_humidity_sensor(sensor::Sensor *humidity_sensor);
   Trigger<> *get_idle_trigger() const;
   Trigger<> *get_cool_trigger() const;
   void set_supports_cool(bool supports_cool);
@@ -48,6 +49,9 @@ class BangBangClimate : public climate::Climate, public Component {
 
   /// The sensor used for getting the current temperature
   sensor::Sensor *sensor_{nullptr};
+  /// The sensor used for getting the current humidity
+  sensor::Sensor *humidity_sensor_{nullptr};
+
   /** The trigger to call when the controller should switch to idle mode.
    *
    * In idle mode, the controller is assumed to have both heating and cooling disabled.
diff --git a/esphome/components/bang_bang/climate.py b/esphome/components/bang_bang/climate.py
index ac0c328000..9dde0ae1ac 100644
--- a/esphome/components/bang_bang/climate.py
+++ b/esphome/components/bang_bang/climate.py
@@ -8,6 +8,7 @@ from esphome.const import (
     CONF_DEFAULT_TARGET_TEMPERATURE_HIGH,
     CONF_DEFAULT_TARGET_TEMPERATURE_LOW,
     CONF_HEAT_ACTION,
+    CONF_HUMIDITY_SENSOR,
     CONF_ID,
     CONF_IDLE_ACTION,
     CONF_SENSOR,
@@ -22,6 +23,7 @@ CONFIG_SCHEMA = cv.All(
         {
             cv.GenerateID(): cv.declare_id(BangBangClimate),
             cv.Required(CONF_SENSOR): cv.use_id(sensor.Sensor),
+            cv.Optional(CONF_HUMIDITY_SENSOR): cv.use_id(sensor.Sensor),
             cv.Required(CONF_DEFAULT_TARGET_TEMPERATURE_LOW): cv.temperature,
             cv.Required(CONF_DEFAULT_TARGET_TEMPERATURE_HIGH): cv.temperature,
             cv.Required(CONF_IDLE_ACTION): automation.validate_automation(single=True),
@@ -47,6 +49,10 @@ async def to_code(config):
     sens = await cg.get_variable(config[CONF_SENSOR])
     cg.add(var.set_sensor(sens))
 
+    if CONF_HUMIDITY_SENSOR in config:
+        sens = await cg.get_variable(config[CONF_HUMIDITY_SENSOR])
+        cg.add(var.set_humidity_sensor(sens))
+
     normal_config = BangBangClimateTargetTempConfig(
         config[CONF_DEFAULT_TARGET_TEMPERATURE_LOW],
         config[CONF_DEFAULT_TARGET_TEMPERATURE_HIGH],
diff --git a/esphome/components/climate/__init__.py b/esphome/components/climate/__init__.py
index 85242eb344..c9c3900a0c 100644
--- a/esphome/components/climate/__init__.py
+++ b/esphome/components/climate/__init__.py
@@ -8,6 +8,7 @@ from esphome.const import (
     CONF_AWAY,
     CONF_AWAY_COMMAND_TOPIC,
     CONF_AWAY_STATE_TOPIC,
+    CONF_CURRENT_HUMIDITY_STATE_TOPIC,
     CONF_CURRENT_TEMPERATURE_STATE_TOPIC,
     CONF_CUSTOM_FAN_MODE,
     CONF_CUSTOM_PRESET,
@@ -28,6 +29,8 @@ from esphome.const import (
     CONF_SWING_MODE,
     CONF_SWING_MODE_COMMAND_TOPIC,
     CONF_SWING_MODE_STATE_TOPIC,
+    CONF_TARGET_HUMIDITY_COMMAND_TOPIC,
+    CONF_TARGET_HUMIDITY_STATE_TOPIC,
     CONF_TARGET_TEMPERATURE,
     CONF_TARGET_TEMPERATURE_COMMAND_TOPIC,
     CONF_TARGET_TEMPERATURE_STATE_TOPIC,
@@ -106,6 +109,9 @@ CLIMATE_SWING_MODES = {
 validate_climate_swing_mode = cv.enum(CLIMATE_SWING_MODES, upper=True)
 
 CONF_CURRENT_TEMPERATURE = "current_temperature"
+CONF_MIN_HUMIDITY = "min_humidity"
+CONF_MAX_HUMIDITY = "max_humidity"
+CONF_TARGET_HUMIDITY = "target_humidity"
 
 visual_temperature = cv.float_with_unit(
     "visual_temperature", "(°C|° C|°|C|° K|° K|K|°F|° F|F)?"
@@ -153,6 +159,8 @@ CLIMATE_SCHEMA = cv.ENTITY_BASE_SCHEMA.extend(cv.MQTT_COMMAND_COMPONENT_SCHEMA).
                 cv.Optional(CONF_MIN_TEMPERATURE): cv.temperature,
                 cv.Optional(CONF_MAX_TEMPERATURE): cv.temperature,
                 cv.Optional(CONF_TEMPERATURE_STEP): VISUAL_TEMPERATURE_STEP_SCHEMA,
+                cv.Optional(CONF_MIN_HUMIDITY): cv.percentage_int,
+                cv.Optional(CONF_MAX_HUMIDITY): cv.percentage_int,
             }
         ),
         cv.Optional(CONF_ACTION_STATE_TOPIC): cv.All(
@@ -167,6 +175,9 @@ CLIMATE_SCHEMA = cv.ENTITY_BASE_SCHEMA.extend(cv.MQTT_COMMAND_COMPONENT_SCHEMA).
         cv.Optional(CONF_CURRENT_TEMPERATURE_STATE_TOPIC): cv.All(
             cv.requires_component("mqtt"), cv.publish_topic
         ),
+        cv.Optional(CONF_CURRENT_HUMIDITY_STATE_TOPIC): cv.All(
+            cv.requires_component("mqtt"), cv.publish_topic
+        ),
         cv.Optional(CONF_FAN_MODE_COMMAND_TOPIC): cv.All(
             cv.requires_component("mqtt"), cv.publish_topic
         ),
@@ -209,6 +220,12 @@ CLIMATE_SCHEMA = cv.ENTITY_BASE_SCHEMA.extend(cv.MQTT_COMMAND_COMPONENT_SCHEMA).
         cv.Optional(CONF_TARGET_TEMPERATURE_LOW_STATE_TOPIC): cv.All(
             cv.requires_component("mqtt"), cv.publish_topic
         ),
+        cv.Optional(CONF_TARGET_HUMIDITY_COMMAND_TOPIC): cv.All(
+            cv.requires_component("mqtt"), cv.publish_topic
+        ),
+        cv.Optional(CONF_TARGET_HUMIDITY_STATE_TOPIC): cv.All(
+            cv.requires_component("mqtt"), cv.publish_topic
+        ),
         cv.Optional(CONF_ON_CONTROL): automation.validate_automation(
             {
                 cv.GenerateID(CONF_TRIGGER_ID): cv.declare_id(ControlTrigger),
@@ -238,6 +255,10 @@ async def setup_climate_core_(var, config):
                 visual[CONF_TEMPERATURE_STEP][CONF_CURRENT_TEMPERATURE],
             )
         )
+    if CONF_MIN_HUMIDITY in visual:
+        cg.add(var.set_visual_min_humidity_override(visual[CONF_MIN_HUMIDITY]))
+    if CONF_MAX_HUMIDITY in visual:
+        cg.add(var.set_visual_max_humidity_override(visual[CONF_MAX_HUMIDITY]))
 
     if CONF_MQTT_ID in config:
         mqtt_ = cg.new_Pvariable(config[CONF_MQTT_ID], var)
@@ -255,6 +276,12 @@ async def setup_climate_core_(var, config):
                     config[CONF_CURRENT_TEMPERATURE_STATE_TOPIC]
                 )
             )
+        if CONF_CURRENT_HUMIDITY_STATE_TOPIC in config:
+            cg.add(
+                mqtt_.set_custom_current_humidity_state_topic(
+                    config[CONF_CURRENT_HUMIDITY_STATE_TOPIC]
+                )
+            )
         if CONF_FAN_MODE_COMMAND_TOPIC in config:
             cg.add(
                 mqtt_.set_custom_fan_mode_command_topic(
@@ -323,6 +350,18 @@ async def setup_climate_core_(var, config):
                     config[CONF_TARGET_TEMPERATURE_LOW_STATE_TOPIC]
                 )
             )
+        if CONF_TARGET_HUMIDITY_COMMAND_TOPIC in config:
+            cg.add(
+                mqtt_.set_custom_target_humidity_command_topic(
+                    config[CONF_TARGET_HUMIDITY_COMMAND_TOPIC]
+                )
+            )
+        if CONF_TARGET_HUMIDITY_STATE_TOPIC in config:
+            cg.add(
+                mqtt_.set_custom_target_humidity_state_topic(
+                    config[CONF_TARGET_HUMIDITY_STATE_TOPIC]
+                )
+            )
 
     for conf in config.get(CONF_ON_STATE, []):
         trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID], var)
@@ -351,6 +390,7 @@ CLIMATE_CONTROL_ACTION_SCHEMA = cv.Schema(
         cv.Optional(CONF_TARGET_TEMPERATURE): cv.templatable(cv.temperature),
         cv.Optional(CONF_TARGET_TEMPERATURE_LOW): cv.templatable(cv.temperature),
         cv.Optional(CONF_TARGET_TEMPERATURE_HIGH): cv.templatable(cv.temperature),
+        cv.Optional(CONF_TARGET_HUMIDITY): cv.templatable(cv.percentage_int),
         cv.Optional(CONF_AWAY): cv.invalid("Use preset instead"),
         cv.Exclusive(CONF_FAN_MODE, "fan_mode"): cv.templatable(
             validate_climate_fan_mode
@@ -387,6 +427,9 @@ async def climate_control_to_code(config, action_id, template_arg, args):
             config[CONF_TARGET_TEMPERATURE_HIGH], args, float
         )
         cg.add(var.set_target_temperature_high(template_))
+    if CONF_TARGET_HUMIDITY in config:
+        template_ = await cg.templatable(config[CONF_TARGET_HUMIDITY], args, float)
+        cg.add(var.set_target_humidity(template_))
     if CONF_FAN_MODE in config:
         template_ = await cg.templatable(config[CONF_FAN_MODE], args, ClimateFanMode)
         cg.add(var.set_fan_mode(template_))
diff --git a/esphome/components/climate/automation.h b/esphome/components/climate/automation.h
index 382871e1e7..a4d13ade58 100644
--- a/esphome/components/climate/automation.h
+++ b/esphome/components/climate/automation.h
@@ -14,6 +14,7 @@ template<typename... Ts> class ControlAction : public Action<Ts...> {
   TEMPLATABLE_VALUE(float, target_temperature)
   TEMPLATABLE_VALUE(float, target_temperature_low)
   TEMPLATABLE_VALUE(float, target_temperature_high)
+  TEMPLATABLE_VALUE(float, target_humidity)
   TEMPLATABLE_VALUE(bool, away)
   TEMPLATABLE_VALUE(ClimateFanMode, fan_mode)
   TEMPLATABLE_VALUE(std::string, custom_fan_mode)
@@ -27,6 +28,7 @@ template<typename... Ts> class ControlAction : public Action<Ts...> {
     call.set_target_temperature(this->target_temperature_.optional_value(x...));
     call.set_target_temperature_low(this->target_temperature_low_.optional_value(x...));
     call.set_target_temperature_high(this->target_temperature_high_.optional_value(x...));
+    call.set_target_humidity(this->target_humidity_.optional_value(x...));
     if (away_.has_value()) {
       call.set_preset(away_.value(x...) ? CLIMATE_PRESET_AWAY : CLIMATE_PRESET_HOME);
     }
diff --git a/esphome/components/climate/climate.cpp b/esphome/components/climate/climate.cpp
index ea24cab954..1822707152 100644
--- a/esphome/components/climate/climate.cpp
+++ b/esphome/components/climate/climate.cpp
@@ -45,6 +45,9 @@ void ClimateCall::perform() {
   if (this->target_temperature_high_.has_value()) {
     ESP_LOGD(TAG, "  Target Temperature High: %.2f", *this->target_temperature_high_);
   }
+  if (this->target_humidity_.has_value()) {
+    ESP_LOGD(TAG, "  Target Humidity: %.0f", *this->target_humidity_);
+  }
   this->parent_->control(*this);
 }
 void ClimateCall::validate_() {
@@ -262,10 +265,16 @@ ClimateCall &ClimateCall::set_target_temperature_high(float target_temperature_h
   this->target_temperature_high_ = target_temperature_high;
   return *this;
 }
+ClimateCall &ClimateCall::set_target_humidity(float target_humidity) {
+  this->target_humidity_ = target_humidity;
+  return *this;
+}
+
 const optional<ClimateMode> &ClimateCall::get_mode() const { return this->mode_; }
 const optional<float> &ClimateCall::get_target_temperature() const { return this->target_temperature_; }
 const optional<float> &ClimateCall::get_target_temperature_low() const { return this->target_temperature_low_; }
 const optional<float> &ClimateCall::get_target_temperature_high() const { return this->target_temperature_high_; }
+const optional<float> &ClimateCall::get_target_humidity() const { return this->target_humidity_; }
 const optional<ClimateFanMode> &ClimateCall::get_fan_mode() const { return this->fan_mode_; }
 const optional<std::string> &ClimateCall::get_custom_fan_mode() const { return this->custom_fan_mode_; }
 const optional<ClimatePreset> &ClimateCall::get_preset() const { return this->preset_; }
@@ -283,6 +292,10 @@ ClimateCall &ClimateCall::set_target_temperature(optional<float> target_temperat
   this->target_temperature_ = target_temperature;
   return *this;
 }
+ClimateCall &ClimateCall::set_target_humidity(optional<float> target_humidity) {
+  this->target_humidity_ = target_humidity;
+  return *this;
+}
 ClimateCall &ClimateCall::set_mode(optional<ClimateMode> mode) {
   this->mode_ = mode;
   return *this;
@@ -343,6 +356,9 @@ void Climate::save_state_() {
   } else {
     state.target_temperature = this->target_temperature;
   }
+  if (traits.get_supports_target_humidity()) {
+    state.target_humidity = this->target_humidity;
+  }
   if (traits.get_supports_fan_modes() && fan_mode.has_value()) {
     state.uses_custom_fan_mode = false;
     state.fan_mode = this->fan_mode.value();
@@ -408,6 +424,12 @@ void Climate::publish_state() {
   } else {
     ESP_LOGD(TAG, "  Target Temperature: %.2f°C", this->target_temperature);
   }
+  if (traits.get_supports_current_humidity()) {
+    ESP_LOGD(TAG, "  Current Humidity: %.0f%%", this->current_humidity);
+  }
+  if (traits.get_supports_target_humidity()) {
+    ESP_LOGD(TAG, "  Target Humidity: %.0f%%", this->target_humidity);
+  }
 
   // Send state to frontend
   this->state_callback_.call(*this);
@@ -427,6 +449,12 @@ ClimateTraits Climate::get_traits() {
     traits.set_visual_target_temperature_step(*this->visual_target_temperature_step_override_);
     traits.set_visual_current_temperature_step(*this->visual_current_temperature_step_override_);
   }
+  if (this->visual_min_humidity_override_.has_value()) {
+    traits.set_visual_min_humidity(*this->visual_min_humidity_override_);
+  }
+  if (this->visual_max_humidity_override_.has_value()) {
+    traits.set_visual_max_humidity(*this->visual_max_humidity_override_);
+  }
 
   return traits;
 }
@@ -441,6 +469,12 @@ void Climate::set_visual_temperature_step_override(float target, float current)
   this->visual_target_temperature_step_override_ = target;
   this->visual_current_temperature_step_override_ = current;
 }
+void Climate::set_visual_min_humidity_override(float visual_min_humidity_override) {
+  this->visual_min_humidity_override_ = visual_min_humidity_override;
+}
+void Climate::set_visual_max_humidity_override(float visual_max_humidity_override) {
+  this->visual_max_humidity_override_ = visual_max_humidity_override;
+}
 
 ClimateCall Climate::make_call() { return ClimateCall(this); }
 
@@ -454,6 +488,9 @@ ClimateCall ClimateDeviceRestoreState::to_call(Climate *climate) {
   } else {
     call.set_target_temperature(this->target_temperature);
   }
+  if (traits.get_supports_target_humidity()) {
+    call.set_target_humidity(this->target_humidity);
+  }
   if (traits.get_supports_fan_modes() || !traits.get_supported_custom_fan_modes().empty()) {
     call.set_fan_mode(this->fan_mode);
   }
@@ -474,6 +511,9 @@ void ClimateDeviceRestoreState::apply(Climate *climate) {
   } else {
     climate->target_temperature = this->target_temperature;
   }
+  if (traits.get_supports_target_humidity()) {
+    climate->target_humidity = this->target_humidity;
+  }
   if (traits.get_supports_fan_modes() && !this->uses_custom_fan_mode) {
     climate->fan_mode = this->fan_mode;
   }
@@ -530,17 +570,25 @@ void Climate::dump_traits_(const char *tag) {
   auto traits = this->get_traits();
   ESP_LOGCONFIG(tag, "ClimateTraits:");
   ESP_LOGCONFIG(tag, "  [x] Visual settings:");
-  ESP_LOGCONFIG(tag, "      - Min: %.1f", traits.get_visual_min_temperature());
-  ESP_LOGCONFIG(tag, "      - Max: %.1f", traits.get_visual_max_temperature());
-  ESP_LOGCONFIG(tag, "      - Step:");
+  ESP_LOGCONFIG(tag, "      - Min temperature: %.1f", traits.get_visual_min_temperature());
+  ESP_LOGCONFIG(tag, "      - Max temperature: %.1f", traits.get_visual_max_temperature());
+  ESP_LOGCONFIG(tag, "      - Temperature step:");
   ESP_LOGCONFIG(tag, "          Target: %.1f", traits.get_visual_target_temperature_step());
   ESP_LOGCONFIG(tag, "          Current: %.1f", traits.get_visual_current_temperature_step());
+  ESP_LOGCONFIG(tag, "      - Min humidity: %.0f", traits.get_visual_min_humidity());
+  ESP_LOGCONFIG(tag, "      - Max humidity: %.0f", traits.get_visual_max_humidity());
   if (traits.get_supports_current_temperature()) {
     ESP_LOGCONFIG(tag, "  [x] Supports current temperature");
   }
+  if (traits.get_supports_current_humidity()) {
+    ESP_LOGCONFIG(tag, "  [x] Supports current humidity");
+  }
   if (traits.get_supports_two_point_target_temperature()) {
     ESP_LOGCONFIG(tag, "  [x] Supports two-point target temperature");
   }
+  if (traits.get_supports_target_humidity()) {
+    ESP_LOGCONFIG(tag, "  [x] Supports target humidity");
+  }
   if (traits.get_supports_action()) {
     ESP_LOGCONFIG(tag, "  [x] Supports action");
   }
diff --git a/esphome/components/climate/climate.h b/esphome/components/climate/climate.h
index 1bbb17322d..7c2a0b1ed3 100644
--- a/esphome/components/climate/climate.h
+++ b/esphome/components/climate/climate.h
@@ -64,6 +64,10 @@ class ClimateCall {
    * For climate devices with two point target temperature control
    */
   ClimateCall &set_target_temperature_high(optional<float> target_temperature_high);
+  /// Set the target humidity of the climate device.
+  ClimateCall &set_target_humidity(float target_humidity);
+  /// Set the target humidity of the climate device.
+  ClimateCall &set_target_humidity(optional<float> target_humidity);
   /// Set the fan mode of the climate device.
   ClimateCall &set_fan_mode(ClimateFanMode fan_mode);
   /// Set the fan mode of the climate device.
@@ -93,6 +97,7 @@ class ClimateCall {
   const optional<float> &get_target_temperature() const;
   const optional<float> &get_target_temperature_low() const;
   const optional<float> &get_target_temperature_high() const;
+  const optional<float> &get_target_humidity() const;
   const optional<ClimateFanMode> &get_fan_mode() const;
   const optional<ClimateSwingMode> &get_swing_mode() const;
   const optional<std::string> &get_custom_fan_mode() const;
@@ -107,6 +112,7 @@ class ClimateCall {
   optional<float> target_temperature_;
   optional<float> target_temperature_low_;
   optional<float> target_temperature_high_;
+  optional<float> target_humidity_;
   optional<ClimateFanMode> fan_mode_;
   optional<ClimateSwingMode> swing_mode_;
   optional<std::string> custom_fan_mode_;
@@ -136,6 +142,7 @@ struct ClimateDeviceRestoreState {
       float target_temperature_high;
     };
   };
+  float target_humidity;
 
   /// Convert this struct to a climate call that can be performed.
   ClimateCall to_call(Climate *climate);
@@ -164,11 +171,16 @@ class Climate : public EntityBase {
 
   /// The active mode of the climate device.
   ClimateMode mode{CLIMATE_MODE_OFF};
+
   /// The active state of the climate device.
   ClimateAction action{CLIMATE_ACTION_OFF};
+
   /// The current temperature of the climate device, as reported from the integration.
   float current_temperature{NAN};
 
+  /// The current humidity of the climate device, as reported from the integration.
+  float current_humidity{NAN};
+
   union {
     /// The target temperature of the climate device.
     float target_temperature;
@@ -180,6 +192,9 @@ class Climate : public EntityBase {
     };
   };
 
+  /// The target humidity of the climate device.
+  float target_humidity;
+
   /// The active fan mode of the climate device.
   optional<ClimateFanMode> fan_mode;
 
@@ -233,6 +248,8 @@ class Climate : public EntityBase {
   void set_visual_min_temperature_override(float visual_min_temperature_override);
   void set_visual_max_temperature_override(float visual_max_temperature_override);
   void set_visual_temperature_step_override(float target, float current);
+  void set_visual_min_humidity_override(float visual_min_humidity_override);
+  void set_visual_max_humidity_override(float visual_max_humidity_override);
 
  protected:
   friend ClimateCall;
@@ -282,6 +299,8 @@ class Climate : public EntityBase {
   optional<float> visual_max_temperature_override_{};
   optional<float> visual_target_temperature_step_override_{};
   optional<float> visual_current_temperature_step_override_{};
+  optional<float> visual_min_humidity_override_{};
+  optional<float> visual_max_humidity_override_{};
 };
 
 }  // namespace climate
diff --git a/esphome/components/climate/climate_traits.h b/esphome/components/climate/climate_traits.h
index e8c2db6c06..fd5b025a03 100644
--- a/esphome/components/climate/climate_traits.h
+++ b/esphome/components/climate/climate_traits.h
@@ -44,10 +44,18 @@ class ClimateTraits {
   void set_supports_current_temperature(bool supports_current_temperature) {
     supports_current_temperature_ = supports_current_temperature;
   }
+  bool get_supports_current_humidity() const { return supports_current_humidity_; }
+  void set_supports_current_humidity(bool supports_current_humidity) {
+    supports_current_humidity_ = supports_current_humidity;
+  }
   bool get_supports_two_point_target_temperature() const { return supports_two_point_target_temperature_; }
   void set_supports_two_point_target_temperature(bool supports_two_point_target_temperature) {
     supports_two_point_target_temperature_ = supports_two_point_target_temperature;
   }
+  bool get_supports_target_humidity() const { return supports_target_humidity_; }
+  void set_supports_target_humidity(bool supports_target_humidity) {
+    supports_target_humidity_ = supports_target_humidity;
+  }
   void set_supported_modes(std::set<ClimateMode> modes) { supported_modes_ = std::move(modes); }
   void add_supported_mode(ClimateMode mode) { supported_modes_.insert(mode); }
   ESPDEPRECATED("This method is deprecated, use set_supported_modes() instead", "v1.20")
@@ -153,6 +161,11 @@ class ClimateTraits {
   int8_t get_target_temperature_accuracy_decimals() const;
   int8_t get_current_temperature_accuracy_decimals() const;
 
+  float get_visual_min_humidity() const { return visual_min_humidity_; }
+  void set_visual_min_humidity(float visual_min_humidity) { visual_min_humidity_ = visual_min_humidity; }
+  float get_visual_max_humidity() const { return visual_max_humidity_; }
+  void set_visual_max_humidity(float visual_max_humidity) { visual_max_humidity_ = visual_max_humidity; }
+
  protected:
   void set_mode_support_(climate::ClimateMode mode, bool supported) {
     if (supported) {
@@ -177,7 +190,9 @@ class ClimateTraits {
   }
 
   bool supports_current_temperature_{false};
+  bool supports_current_humidity_{false};
   bool supports_two_point_target_temperature_{false};
+  bool supports_target_humidity_{false};
   std::set<climate::ClimateMode> supported_modes_ = {climate::CLIMATE_MODE_OFF};
   bool supports_action_{false};
   std::set<climate::ClimateFanMode> supported_fan_modes_;
@@ -190,6 +205,8 @@ class ClimateTraits {
   float visual_max_temperature_{30};
   float visual_target_temperature_step_{0.1};
   float visual_current_temperature_step_{0.1};
+  float visual_min_humidity_{30};
+  float visual_max_humidity_{99};
 };
 
 }  // namespace climate
diff --git a/esphome/components/mqtt/mqtt_climate.cpp b/esphome/components/mqtt/mqtt_climate.cpp
index 44c490c308..49a8f06734 100644
--- a/esphome/components/mqtt/mqtt_climate.cpp
+++ b/esphome/components/mqtt/mqtt_climate.cpp
@@ -17,9 +17,12 @@ void MQTTClimateComponent::send_discovery(JsonObject root, mqtt::SendDiscoveryCo
   auto traits = this->device_->get_traits();
   // current_temperature_topic
   if (traits.get_supports_current_temperature()) {
-    // current_temperature_topic
     root[MQTT_CURRENT_TEMPERATURE_TOPIC] = this->get_current_temperature_state_topic();
   }
+  // current_humidity_topic
+  if (traits.get_supports_current_humidity()) {
+    root[MQTT_CURRENT_HUMIDITY_TOPIC] = this->get_current_humidity_state_topic();
+  }
   // mode_command_topic
   root[MQTT_MODE_COMMAND_TOPIC] = this->get_mode_command_topic();
   // mode_state_topic
@@ -57,6 +60,13 @@ void MQTTClimateComponent::send_discovery(JsonObject root, mqtt::SendDiscoveryCo
     root[MQTT_TEMPERATURE_STATE_TOPIC] = this->get_target_temperature_state_topic();
   }
 
+  if (traits.get_supports_target_humidity()) {
+    // target_humidity_command_topic
+    root[MQTT_TARGET_HUMIDITY_COMMAND_TOPIC] = this->get_target_humidity_command_topic();
+    // target_humidity_state_topic
+    root[MQTT_TARGET_HUMIDITY_STATE_TOPIC] = this->get_target_humidity_state_topic();
+  }
+
   // min_temp
   root[MQTT_MIN_TEMP] = traits.get_visual_min_temperature();
   // max_temp
@@ -66,6 +76,11 @@ void MQTTClimateComponent::send_discovery(JsonObject root, mqtt::SendDiscoveryCo
   // temperature units are always coerced to Celsius internally
   root[MQTT_TEMPERATURE_UNIT] = "C";
 
+  // min_humidity
+  root[MQTT_MIN_HUMIDITY] = traits.get_visual_min_humidity();
+  // max_humidity
+  root[MQTT_MAX_HUMIDITY] = traits.get_visual_max_humidity();
+
   if (traits.get_supports_presets() || !traits.get_supported_custom_presets().empty()) {
     // preset_mode_command_topic
     root[MQTT_PRESET_MODE_COMMAND_TOPIC] = this->get_preset_command_topic();
@@ -192,6 +207,20 @@ void MQTTClimateComponent::setup() {
                     });
   }
 
+  if (traits.get_supports_target_humidity()) {
+    this->subscribe(this->get_target_humidity_command_topic(),
+                    [this](const std::string &topic, const std::string &payload) {
+                      auto val = parse_number<float>(payload);
+                      if (!val.has_value()) {
+                        ESP_LOGW(TAG, "Can't convert '%s' to number!", payload.c_str());
+                        return;
+                      }
+                      auto call = this->device_->make_call();
+                      call.set_target_humidity(*val);
+                      call.perform();
+                    });
+  }
+
   if (traits.get_supports_presets() || !traits.get_supported_custom_presets().empty()) {
     this->subscribe(this->get_preset_command_topic(), [this](const std::string &topic, const std::string &payload) {
       auto call = this->device_->make_call();
@@ -273,6 +302,17 @@ bool MQTTClimateComponent::publish_state_() {
       success = false;
   }
 
+  if (traits.get_supports_current_humidity() && !std::isnan(this->device_->current_humidity)) {
+    std::string payload = value_accuracy_to_string(this->device_->current_humidity, 0);
+    if (!this->publish(this->get_current_humidity_state_topic(), payload))
+      success = false;
+  }
+  if (traits.get_supports_target_humidity() && !std::isnan(this->device_->target_humidity)) {
+    std::string payload = value_accuracy_to_string(this->device_->target_humidity, 0);
+    if (!this->publish(this->get_target_humidity_state_topic(), payload))
+      success = false;
+  }
+
   if (traits.get_supports_presets() || !traits.get_supported_custom_presets().empty()) {
     std::string payload;
     if (this->device_->preset.has_value()) {
diff --git a/esphome/components/mqtt/mqtt_climate.h b/esphome/components/mqtt/mqtt_climate.h
index a93070fe66..4e54230e68 100644
--- a/esphome/components/mqtt/mqtt_climate.h
+++ b/esphome/components/mqtt/mqtt_climate.h
@@ -20,6 +20,7 @@ class MQTTClimateComponent : public mqtt::MQTTComponent {
   void setup() override;
 
   MQTT_COMPONENT_CUSTOM_TOPIC(current_temperature, state)
+  MQTT_COMPONENT_CUSTOM_TOPIC(current_humidity, state)
   MQTT_COMPONENT_CUSTOM_TOPIC(mode, state)
   MQTT_COMPONENT_CUSTOM_TOPIC(mode, command)
   MQTT_COMPONENT_CUSTOM_TOPIC(target_temperature, state)
@@ -28,6 +29,8 @@ class MQTTClimateComponent : public mqtt::MQTTComponent {
   MQTT_COMPONENT_CUSTOM_TOPIC(target_temperature_low, command)
   MQTT_COMPONENT_CUSTOM_TOPIC(target_temperature_high, state)
   MQTT_COMPONENT_CUSTOM_TOPIC(target_temperature_high, command)
+  MQTT_COMPONENT_CUSTOM_TOPIC(target_humidity, state)
+  MQTT_COMPONENT_CUSTOM_TOPIC(target_humidity, command)
   MQTT_COMPONENT_CUSTOM_TOPIC(away, state)
   MQTT_COMPONENT_CUSTOM_TOPIC(away, command)
   MQTT_COMPONENT_CUSTOM_TOPIC(action, state)
diff --git a/esphome/components/mqtt/mqtt_const.h b/esphome/components/mqtt/mqtt_const.h
index 7f74197ab4..3d9e0b4c00 100644
--- a/esphome/components/mqtt/mqtt_const.h
+++ b/esphome/components/mqtt/mqtt_const.h
@@ -51,6 +51,8 @@ constexpr const char *const MQTT_CODE_ARM_REQUIRED = "cod_arm_req";
 constexpr const char *const MQTT_CODE_DISARM_REQUIRED = "cod_dis_req";
 constexpr const char *const MQTT_CURRENT_TEMPERATURE_TOPIC = "curr_temp_t";
 constexpr const char *const MQTT_CURRENT_TEMPERATURE_TEMPLATE = "curr_temp_tpl";
+constexpr const char *const MQTT_CURRENT_HUMIDITY_TOPIC = "curr_hum_t";
+constexpr const char *const MQTT_CURRENT_HUMIDITY_TEMPLATE = "curr_hum_tpl";
 constexpr const char *const MQTT_DEVICE = "dev";
 constexpr const char *const MQTT_DEVICE_CLASS = "dev_cla";
 constexpr const char *const MQTT_DOCKED_TOPIC = "dock_t";
@@ -305,6 +307,8 @@ constexpr const char *const MQTT_CODE_ARM_REQUIRED = "code_arm_required";
 constexpr const char *const MQTT_CODE_DISARM_REQUIRED = "code_disarm_required";
 constexpr const char *const MQTT_CURRENT_TEMPERATURE_TOPIC = "current_temperature_topic";
 constexpr const char *const MQTT_CURRENT_TEMPERATURE_TEMPLATE = "current_temperature_template";
+constexpr const char *const MQTT_CURRENT_HUMIDITY_TOPIC = "current_humidity_topic";
+constexpr const char *const MQTT_CURRENT_HUMIDITY_TEMPLATE = "current_humidity_template";
 constexpr const char *const MQTT_DEVICE = "device";
 constexpr const char *const MQTT_DEVICE_CLASS = "device_class";
 constexpr const char *const MQTT_DOCKED_TOPIC = "docked_topic";
diff --git a/esphome/components/pid/climate.py b/esphome/components/pid/climate.py
index 7cd414f912..2c4ef688a5 100644
--- a/esphome/components/pid/climate.py
+++ b/esphome/components/pid/climate.py
@@ -2,7 +2,7 @@ import esphome.codegen as cg
 import esphome.config_validation as cv
 from esphome import automation
 from esphome.components import climate, sensor, output
-from esphome.const import CONF_ID, CONF_SENSOR
+from esphome.const import CONF_HUMIDITY_SENSOR, CONF_ID, CONF_SENSOR
 
 pid_ns = cg.esphome_ns.namespace("pid")
 PIDClimate = pid_ns.class_("PIDClimate", climate.Climate, cg.Component)
@@ -45,6 +45,7 @@ CONFIG_SCHEMA = cv.All(
         {
             cv.GenerateID(): cv.declare_id(PIDClimate),
             cv.Required(CONF_SENSOR): cv.use_id(sensor.Sensor),
+            cv.Optional(CONF_HUMIDITY_SENSOR): cv.use_id(sensor.Sensor),
             cv.Required(CONF_DEFAULT_TARGET_TEMPERATURE): cv.temperature,
             cv.Optional(CONF_COOL_OUTPUT): cv.use_id(output.FloatOutput),
             cv.Optional(CONF_HEAT_OUTPUT): cv.use_id(output.FloatOutput),
@@ -86,6 +87,10 @@ async def to_code(config):
     sens = await cg.get_variable(config[CONF_SENSOR])
     cg.add(var.set_sensor(sens))
 
+    if CONF_HUMIDITY_SENSOR in config:
+        sens = await cg.get_variable(config[CONF_HUMIDITY_SENSOR])
+        cg.add(var.set_humidity_sensor(sens))
+
     if CONF_COOL_OUTPUT in config:
         out = await cg.get_variable(config[CONF_COOL_OUTPUT])
         cg.add(var.set_cool_output(out))
diff --git a/esphome/components/pid/pid_climate.cpp b/esphome/components/pid/pid_climate.cpp
index dab4502d40..93b6999a00 100644
--- a/esphome/components/pid/pid_climate.cpp
+++ b/esphome/components/pid/pid_climate.cpp
@@ -14,6 +14,16 @@ void PIDClimate::setup() {
     this->update_pid_();
   });
   this->current_temperature = this->sensor_->state;
+
+  // register for humidity values and get initial state
+  if (this->humidity_sensor_ != nullptr) {
+    this->humidity_sensor_->add_on_state_callback([this](float state) {
+      this->current_humidity = state;
+      this->publish_state();
+    });
+    this->current_humidity = this->humidity_sensor_->state;
+  }
+
   // restore set points
   auto restore = this->restore_state_();
   if (restore.has_value()) {
@@ -47,6 +57,9 @@ climate::ClimateTraits PIDClimate::traits() {
   traits.set_supports_current_temperature(true);
   traits.set_supports_two_point_target_temperature(false);
 
+  if (this->humidity_sensor_ != nullptr)
+    traits.set_supports_current_humidity(true);
+
   traits.set_supported_modes({climate::CLIMATE_MODE_OFF});
   if (supports_cool_())
     traits.add_supported_mode(climate::CLIMATE_MODE_COOL);
diff --git a/esphome/components/pid/pid_climate.h b/esphome/components/pid/pid_climate.h
index da57209a7e..5ae97ee10b 100644
--- a/esphome/components/pid/pid_climate.h
+++ b/esphome/components/pid/pid_climate.h
@@ -19,6 +19,7 @@ class PIDClimate : public climate::Climate, public Component {
   void dump_config() override;
 
   void set_sensor(sensor::Sensor *sensor) { sensor_ = sensor; }
+  void set_humidity_sensor(sensor::Sensor *sensor) { humidity_sensor_ = sensor; }
   void set_cool_output(output::FloatOutput *cool_output) { cool_output_ = cool_output; }
   void set_heat_output(output::FloatOutput *heat_output) { heat_output_ = heat_output; }
   void set_kp(float kp) { controller_.kp_ = kp; }
@@ -85,6 +86,8 @@ class PIDClimate : public climate::Climate, public Component {
 
   /// The sensor used for getting the current temperature
   sensor::Sensor *sensor_;
+  /// The sensor used for getting the current humidity
+  sensor::Sensor *humidity_sensor_{nullptr};
   output::FloatOutput *cool_output_{nullptr};
   output::FloatOutput *heat_output_{nullptr};
   PIDController controller_;
diff --git a/esphome/components/thermostat/climate.py b/esphome/components/thermostat/climate.py
index cca46609db..89d6b13376 100644
--- a/esphome/components/thermostat/climate.py
+++ b/esphome/components/thermostat/climate.py
@@ -35,6 +35,7 @@ from esphome.const import (
     CONF_HEAT_DEADBAND,
     CONF_HEAT_MODE,
     CONF_HEAT_OVERRUN,
+    CONF_HUMIDITY_SENSOR,
     CONF_ID,
     CONF_IDLE_ACTION,
     CONF_MAX_COOLING_RUN_TIME,
@@ -519,6 +520,7 @@ CONFIG_SCHEMA = cv.All(
         {
             cv.GenerateID(): cv.declare_id(ThermostatClimate),
             cv.Required(CONF_SENSOR): cv.use_id(sensor.Sensor),
+            cv.Optional(CONF_HUMIDITY_SENSOR): cv.use_id(sensor.Sensor),
             cv.Required(CONF_IDLE_ACTION): automation.validate_automation(single=True),
             cv.Optional(CONF_COOL_ACTION): automation.validate_automation(single=True),
             cv.Optional(
@@ -658,6 +660,10 @@ async def to_code(config):
     )
     cg.add(var.set_sensor(sens))
 
+    if CONF_HUMIDITY_SENSOR in config:
+        sens = await cg.get_variable(config[CONF_HUMIDITY_SENSOR])
+        cg.add(var.set_humidity_sensor(sens))
+
     cg.add(var.set_cool_deadband(config[CONF_COOL_DEADBAND]))
     cg.add(var.set_cool_overrun(config[CONF_COOL_OVERRUN]))
     cg.add(var.set_heat_deadband(config[CONF_HEAT_DEADBAND]))
diff --git a/esphome/components/thermostat/thermostat_climate.cpp b/esphome/components/thermostat/thermostat_climate.cpp
index 73b061b07c..40a29295f1 100644
--- a/esphome/components/thermostat/thermostat_climate.cpp
+++ b/esphome/components/thermostat/thermostat_climate.cpp
@@ -27,6 +27,15 @@ void ThermostatClimate::setup() {
   });
   this->current_temperature = this->sensor_->state;
 
+  // register for humidity values and get initial state
+  if (this->humidity_sensor_ != nullptr) {
+    this->humidity_sensor_->add_on_state_callback([this](float state) {
+      this->current_humidity = state;
+      this->publish_state();
+    });
+    this->current_humidity = this->humidity_sensor_->state;
+  }
+
   auto use_default_preset = true;
 
   if (this->on_boot_restore_from_ == thermostat::OnBootRestoreFrom::MEMORY) {
@@ -217,6 +226,9 @@ void ThermostatClimate::control(const climate::ClimateCall &call) {
 climate::ClimateTraits ThermostatClimate::traits() {
   auto traits = climate::ClimateTraits();
   traits.set_supports_current_temperature(true);
+  if (this->humidity_sensor_ != nullptr)
+    traits.set_supports_current_humidity(true);
+
   if (supports_auto_)
     traits.add_supported_mode(climate::CLIMATE_MODE_AUTO);
   if (supports_heat_cool_)
@@ -1169,6 +1181,9 @@ void ThermostatClimate::set_idle_minimum_time_in_sec(uint32_t time) {
       1000 * (time < this->min_timer_duration_ ? this->min_timer_duration_ : time);
 }
 void ThermostatClimate::set_sensor(sensor::Sensor *sensor) { this->sensor_ = sensor; }
+void ThermostatClimate::set_humidity_sensor(sensor::Sensor *humidity_sensor) {
+  this->humidity_sensor_ = humidity_sensor;
+}
 void ThermostatClimate::set_use_startup_delay(bool use_startup_delay) { this->use_startup_delay_ = use_startup_delay; }
 void ThermostatClimate::set_supports_heat_cool(bool supports_heat_cool) {
   this->supports_heat_cool_ = supports_heat_cool;
diff --git a/esphome/components/thermostat/thermostat_climate.h b/esphome/components/thermostat/thermostat_climate.h
index 677b4ad324..559812a94f 100644
--- a/esphome/components/thermostat/thermostat_climate.h
+++ b/esphome/components/thermostat/thermostat_climate.h
@@ -81,6 +81,7 @@ class ThermostatClimate : public climate::Climate, public Component {
   void set_heating_minimum_run_time_in_sec(uint32_t time);
   void set_idle_minimum_time_in_sec(uint32_t time);
   void set_sensor(sensor::Sensor *sensor);
+  void set_humidity_sensor(sensor::Sensor *humidity_sensor);
   void set_use_startup_delay(bool use_startup_delay);
   void set_supports_auto(bool supports_auto);
   void set_supports_heat_cool(bool supports_heat_cool);
@@ -238,6 +239,8 @@ class ThermostatClimate : public climate::Climate, public Component {
 
   /// The sensor used for getting the current temperature
   sensor::Sensor *sensor_{nullptr};
+  /// The sensor used for getting the current humidity
+  sensor::Sensor *humidity_sensor_{nullptr};
 
   /// Whether the controller supports auto/cooling/drying/fanning/heating.
   ///
diff --git a/esphome/const.py b/esphome/const.py
index 1aabe81db3..101a690db5 100644
--- a/esphome/const.py
+++ b/esphome/const.py
@@ -157,6 +157,7 @@ CONF_CS_PIN = "cs_pin"
 CONF_CSS_INCLUDE = "css_include"
 CONF_CSS_URL = "css_url"
 CONF_CURRENT = "current"
+CONF_CURRENT_HUMIDITY_STATE_TOPIC = "current_humidity_state_topic"
 CONF_CURRENT_OPERATION = "current_operation"
 CONF_CURRENT_RESISTOR = "current_resistor"
 CONF_CURRENT_TEMPERATURE_STATE_TOPIC = "current_temperature_state_topic"
@@ -324,6 +325,7 @@ CONF_HIGH_VOLTAGE_REFERENCE = "high_voltage_reference"
 CONF_HOUR = "hour"
 CONF_HOURS = "hours"
 CONF_HUMIDITY = "humidity"
+CONF_HUMIDITY_SENSOR = "humidity_sensor"
 CONF_HYSTERESIS = "hysteresis"
 CONF_I2C = "i2c"
 CONF_I2C_ID = "i2c_id"
@@ -758,6 +760,8 @@ CONF_SYNC = "sync"
 CONF_TABLET = "tablet"
 CONF_TAG = "tag"
 CONF_TARGET = "target"
+CONF_TARGET_HUMIDITY_COMMAND_TOPIC = "target_humidity_command_topic"
+CONF_TARGET_HUMIDITY_STATE_TOPIC = "target_humidity_state_topic"
 CONF_TARGET_TEMPERATURE = "target_temperature"
 CONF_TARGET_TEMPERATURE_CHANGE_ACTION = "target_temperature_change_action"
 CONF_TARGET_TEMPERATURE_COMMAND_TOPIC = "target_temperature_command_topic"
diff --git a/tests/test3.yaml b/tests/test3.yaml
index 6b1757c2ad..ab7f38d07f 100644
--- a/tests/test3.yaml
+++ b/tests/test3.yaml
@@ -899,6 +899,7 @@ climate:
   - platform: bang_bang
     name: Bang Bang Climate
     sensor: ha_hello_world
+    humidity_sensor: ha_hello_world
     default_target_temperature_low: 18°C
     default_target_temperature_high: 24°C
     idle_action:
@@ -913,6 +914,7 @@ climate:
   - platform: thermostat
     name: Thermostat Climate
     sensor: ha_hello_world
+    humidity_sensor: ha_hello_world
     preset:
       - name: Default Preset
         default_target_temperature_low: 18°C
@@ -1000,6 +1002,7 @@ climate:
     id: pid_climate
     name: PID Climate Controller
     sensor: ha_hello_world
+    humidity_sensor: ha_hello_world
     default_target_temperature: 21°C
     heat_output: my_slow_pwm
     control_parameters: