diff --git a/esphome/components/tuya/tuya.cpp b/esphome/components/tuya/tuya.cpp
index efe214f6a3..fad4bb0bac 100644
--- a/esphome/components/tuya/tuya.cpp
+++ b/esphome/components/tuya/tuya.cpp
@@ -247,6 +247,11 @@ void Tuya::handle_command_(uint8_t command, uint8_t version, const uint8_t *buff
       ESP_LOGE(TAG, "LOCAL_TIME_QUERY is not handled");
 #endif
       break;
+    case TuyaCommandType::VACUUM_MAP_UPLOAD:
+      this->send_command_(
+          TuyaCommand{.cmd = TuyaCommandType::VACUUM_MAP_UPLOAD, .payload = std::vector<uint8_t>{0x01}});
+      ESP_LOGW(TAG, "Vacuum map upload requested, responding that it is not enabled.");
+      break;
     case TuyaCommandType::GET_NETWORK_STATUS: {
       uint8_t wifi_status = this->get_wifi_status_code_();
 
diff --git a/esphome/components/tuya/tuya.h b/esphome/components/tuya/tuya.h
index cc13a64bdb..b9c917f672 100644
--- a/esphome/components/tuya/tuya.h
+++ b/esphome/components/tuya/tuya.h
@@ -55,6 +55,7 @@ enum class TuyaCommandType : uint8_t {
   DATAPOINT_QUERY = 0x08,
   WIFI_TEST = 0x0E,
   LOCAL_TIME_QUERY = 0x1C,
+  VACUUM_MAP_UPLOAD = 0x28,
   GET_NETWORK_STATUS = 0x2B,
 };