diff --git a/esphome/components/wifi/__init__.py b/esphome/components/wifi/__init__.py
index c45e179bc4..851c5f1b90 100644
--- a/esphome/components/wifi/__init__.py
+++ b/esphome/components/wifi/__init__.py
@@ -157,9 +157,7 @@ def _validate(config):
         config[CONF_NETWORKS] = cv.ensure_list(WIFI_NETWORK_STA)(network)
 
     if (CONF_NETWORKS not in config) and (CONF_AP not in config):
-        raise cv.Invalid(
-            "Please specify at least an SSID or an Access Point " "to create."
-        )
+        config[CONF_NETWORKS] = []
 
     if config.get(CONF_FAST_CONNECT, False):
         networks = config.get(CONF_NETWORKS, [])