diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index ea911d21e5..6b0f4dc897 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -45,7 +45,7 @@ uint64_t ble_addr_to_uint64(const esp_bd_addr_t address) {
   return u;
 }
 
-float ESP32BLETracker::get_setup_priority() const { return setup_priority::BLUETOOTH; }
+float ESP32BLETracker::get_setup_priority() const { return setup_priority::AFTER_BLUETOOTH; }
 
 void ESP32BLETracker::setup() {
   if (this->parent_->is_failed()) {