diff --git a/esphome/components/mqtt/__init__.py b/esphome/components/mqtt/__init__.py
index 336d928f71..8851581ea0 100644
--- a/esphome/components/mqtt/__init__.py
+++ b/esphome/components/mqtt/__init__.py
@@ -41,6 +41,7 @@ from esphome.const import (
     CONF_SHUTDOWN_MESSAGE,
     CONF_SSL_FINGERPRINTS,
     CONF_STATE_TOPIC,
+    CONF_SUBSCRIBE_QOS,
     CONF_TOPIC,
     CONF_TOPIC_PREFIX,
     CONF_TRIGGER_ID,
@@ -518,6 +519,8 @@ async def register_mqtt_component(var, config):
         cg.add(var.set_qos(config[CONF_QOS]))
     if CONF_RETAIN in config:
         cg.add(var.set_retain(config[CONF_RETAIN]))
+    if CONF_SUBSCRIBE_QOS in config:
+        cg.add(var.set_subscribe_qos(config[CONF_SUBSCRIBE_QOS]))
     if not config.get(CONF_DISCOVERY, True):
         cg.add(var.disable_discovery())
     if CONF_STATE_TOPIC in config:
diff --git a/esphome/components/mqtt/mqtt_component.cpp b/esphome/components/mqtt/mqtt_component.cpp
index 295fbba5e5..3b9d367a7b 100644
--- a/esphome/components/mqtt/mqtt_component.cpp
+++ b/esphome/components/mqtt/mqtt_component.cpp
@@ -16,6 +16,8 @@ static const char *const TAG = "mqtt.component";
 
 void MQTTComponent::set_qos(uint8_t qos) { this->qos_ = qos; }
 
+void MQTTComponent::set_subscribe_qos(uint8_t qos) { this->subscribe_qos_ = qos; }
+
 void MQTTComponent::set_retain(bool retain) { this->retain_ = retain; }
 
 std::string MQTTComponent::get_discovery_topic_(const MQTTDiscoveryInfo &discovery_info) const {
@@ -76,6 +78,10 @@ bool MQTTComponent::send_discovery_() {
         config.command_topic = true;
 
         this->send_discovery(root, config);
+        // Set subscription QoS (default is 0)
+        if (this->subscribe_qos_ != 0) {
+          root[MQTT_QOS] = this->subscribe_qos_;
+        }
 
         // Fields from EntityBase
         if (this->get_entity()->has_own_name()) {
diff --git a/esphome/components/mqtt/mqtt_component.h b/esphome/components/mqtt/mqtt_component.h
index 147840d11f..01ba98ad40 100644
--- a/esphome/components/mqtt/mqtt_component.h
+++ b/esphome/components/mqtt/mqtt_component.h
@@ -89,6 +89,9 @@ class MQTTComponent : public Component {
   void disable_discovery();
   bool is_discovery_enabled() const;
 
+  /// Set the QOS for subscribe messages (used in discovery).
+  void set_subscribe_qos(uint8_t qos);
+
   /// Override this method to return the component type (e.g. "light", "sensor", ...)
   virtual std::string component_type() const = 0;
 
@@ -204,6 +207,7 @@ class MQTTComponent : public Component {
   bool command_retain_{false};
   bool retain_{true};
   uint8_t qos_{0};
+  uint8_t subscribe_qos_{0};
   bool discovery_enabled_{true};
   bool resend_state_{false};
 };
diff --git a/esphome/components/mqtt/mqtt_const.h b/esphome/components/mqtt/mqtt_const.h
index 71f169fbe8..c1c40c4b6d 100644
--- a/esphome/components/mqtt/mqtt_const.h
+++ b/esphome/components/mqtt/mqtt_const.h
@@ -180,6 +180,7 @@ constexpr const char *const MQTT_PRESET_MODE_COMMAND_TOPIC = "pr_mode_cmd_t";
 constexpr const char *const MQTT_PRESET_MODE_STATE_TOPIC = "pr_mode_stat_t";
 constexpr const char *const MQTT_PRESET_MODE_VALUE_TEMPLATE = "pr_mode_val_tpl";
 constexpr const char *const MQTT_PRESET_MODES = "pr_modes";
+constexpr const char *const MQTT_QOS = "qos";
 constexpr const char *const MQTT_RED_TEMPLATE = "r_tpl";
 constexpr const char *const MQTT_RETAIN = "ret";
 constexpr const char *const MQTT_RGB_COMMAND_TEMPLATE = "rgb_cmd_tpl";
@@ -441,6 +442,7 @@ constexpr const char *const MQTT_PRESET_MODE_COMMAND_TOPIC = "preset_mode_comman
 constexpr const char *const MQTT_PRESET_MODE_STATE_TOPIC = "preset_mode_state_topic";
 constexpr const char *const MQTT_PRESET_MODE_VALUE_TEMPLATE = "preset_mode_value_template";
 constexpr const char *const MQTT_PRESET_MODES = "preset_modes";
+constexpr const char *const MQTT_QOS = "qos";
 constexpr const char *const MQTT_RED_TEMPLATE = "red_template";
 constexpr const char *const MQTT_RETAIN = "retain";
 constexpr const char *const MQTT_RGB_COMMAND_TEMPLATE = "rgb_command_template";
diff --git a/esphome/config_validation.py b/esphome/config_validation.py
index a7525a62dd..98b81ec328 100644
--- a/esphome/config_validation.py
+++ b/esphome/config_validation.py
@@ -40,6 +40,7 @@ from esphome.const import (
     CONF_SECOND,
     CONF_SETUP_PRIORITY,
     CONF_STATE_TOPIC,
+    CONF_SUBSCRIBE_QOS,
     CONF_TOPIC,
     CONF_TYPE,
     CONF_TYPE_ID,
@@ -1893,9 +1894,10 @@ MQTT_COMPONENT_AVAILABILITY_SCHEMA = Schema(
 
 MQTT_COMPONENT_SCHEMA = Schema(
     {
-        Optional(CONF_QOS): All(requires_component("mqtt"), int_range(min=0, max=2)),
+        Optional(CONF_QOS): All(requires_component("mqtt"), mqtt_qos),
         Optional(CONF_RETAIN): All(requires_component("mqtt"), boolean),
         Optional(CONF_DISCOVERY): All(requires_component("mqtt"), boolean),
+        Optional(CONF_SUBSCRIBE_QOS): All(requires_component("mqtt"), mqtt_qos),
         Optional(CONF_STATE_TOPIC): All(requires_component("mqtt"), publish_topic),
         Optional(CONF_AVAILABILITY): All(
             requires_component("mqtt"), Any(None, MQTT_COMPONENT_AVAILABILITY_SCHEMA)
diff --git a/esphome/const.py b/esphome/const.py
index a3a4318d69..54ebb2815f 100644
--- a/esphome/const.py
+++ b/esphome/const.py
@@ -819,6 +819,7 @@ CONF_STOP = "stop"
 CONF_STOP_ACTION = "stop_action"
 CONF_STORE_BASELINE = "store_baseline"
 CONF_SUBNET = "subnet"
+CONF_SUBSCRIBE_QOS = "subscribe_qos"
 CONF_SUBSTITUTIONS = "substitutions"
 CONF_SUM = "sum"
 CONF_SUPPLEMENTAL_COOLING_ACTION = "supplemental_cooling_action"
diff --git a/tests/components/mqtt/common.yaml b/tests/components/mqtt/common.yaml
index f7a727ab2f..5ed6335d65 100644
--- a/tests/components/mqtt/common.yaml
+++ b/tests/components/mqtt/common.yaml
@@ -227,6 +227,7 @@ datetime:
     type: date
     state_topic: some/topic/date
     qos: 2
+    subscribe_qos: 2
     set_action:
       - logger.log: "set_value"
     on_value: