diff --git a/homeassistant/components/ai_task/services.yaml b/homeassistant/components/ai_task/services.yaml
index 194c0e07bc3..feefa70a30b 100644
--- a/homeassistant/components/ai_task/services.yaml
+++ b/homeassistant/components/ai_task/services.yaml
@@ -15,9 +15,10 @@ generate_data:
       required: false
       selector:
         entity:
-          domain: ai_task
-          supported_features:
-            - ai_task.AITaskEntityFeature.GENERATE_DATA
+          filter:
+            domain: ai_task
+            supported_features:
+              - ai_task.AITaskEntityFeature.GENERATE_DATA
     structure:
       advanced: true
       required: false
diff --git a/homeassistant/components/assist_satellite/services.yaml b/homeassistant/components/assist_satellite/services.yaml
index 8433eb6102d..ed292e1626c 100644
--- a/homeassistant/components/assist_satellite/services.yaml
+++ b/homeassistant/components/assist_satellite/services.yaml
@@ -68,9 +68,10 @@ ask_question:
       required: true
       selector:
         entity:
-          domain: assist_satellite
-          supported_features:
-            - assist_satellite.AssistSatelliteEntityFeature.START_CONVERSATION
+          filter:
+            domain: assist_satellite
+            supported_features:
+              - assist_satellite.AssistSatelliteEntityFeature.START_CONVERSATION
     question:
       required: false
       example: "What kind of music would you like to play?"
diff --git a/homeassistant/helpers/selector.py b/homeassistant/helpers/selector.py
index bc24113251c..83524fac24c 100644
--- a/homeassistant/helpers/selector.py
+++ b/homeassistant/helpers/selector.py
@@ -160,6 +160,22 @@ ENTITY_FILTER_SELECTOR_CONFIG_SCHEMA = vol.Schema(
 )
 
 
+# Legacy entity selector config schema used directly under entity selectors
+# is provided for backwards compatibility and remains feature frozen.
+# New filtering features should be added under the `filter` key instead.
+# https://github.com/home-assistant/frontend/pull/15302
+LEGACY_ENTITY_SELECTOR_CONFIG_SCHEMA = vol.Schema(
+    {
+        # Integration that provided the entity
+        vol.Optional("integration"): str,
+        # Domain the entity belongs to
+        vol.Optional("domain"): vol.All(cv.ensure_list, [str]),
+        # Device class of the entity
+        vol.Optional("device_class"): vol.All(cv.ensure_list, [str]),
+    }
+)
+
+
 class EntityFilterSelectorConfig(TypedDict, total=False):
     """Class to represent a single entity selector config."""
 
@@ -179,10 +195,22 @@ DEVICE_FILTER_SELECTOR_CONFIG_SCHEMA = vol.Schema(
         vol.Optional("model"): str,
         # Model ID of device
         vol.Optional("model_id"): str,
-        # Device has to contain entities matching this selector
-        vol.Optional("entity"): vol.All(
-            cv.ensure_list, [ENTITY_FILTER_SELECTOR_CONFIG_SCHEMA]
-        ),
+    }
+)
+
+
+# Legacy device selector config schema used directly under device selectors
+# is provided for backwards compatibility and remains feature frozen.
+# New filtering features should be added under the `filter` key instead.
+# https://github.com/home-assistant/frontend/pull/15302
+LEGACY_DEVICE_SELECTOR_CONFIG_SCHEMA = vol.Schema(
+    {
+        # Integration linked to it with a config entry
+        vol.Optional("integration"): str,
+        # Manufacturer of device
+        vol.Optional("manufacturer"): str,
+        # Model of device
+        vol.Optional("model"): str,
     }
 )
 
@@ -714,9 +742,13 @@ class DeviceSelector(Selector[DeviceSelectorConfig]):
     selector_type = "device"
 
     CONFIG_SCHEMA = BASE_SELECTOR_CONFIG_SCHEMA.extend(
-        DEVICE_FILTER_SELECTOR_CONFIG_SCHEMA.schema
+        LEGACY_DEVICE_SELECTOR_CONFIG_SCHEMA.schema
     ).extend(
         {
+            # Device has to contain entities matching this selector
+            vol.Optional("entity"): vol.All(
+                cv.ensure_list, [ENTITY_FILTER_SELECTOR_CONFIG_SCHEMA]
+            ),
             vol.Optional("multiple", default=False): cv.boolean,
             vol.Optional("filter"): vol.All(
                 cv.ensure_list,
@@ -794,7 +826,7 @@ class EntitySelector(Selector[EntitySelectorConfig]):
     selector_type = "entity"
 
     CONFIG_SCHEMA = BASE_SELECTOR_CONFIG_SCHEMA.extend(
-        ENTITY_FILTER_SELECTOR_CONFIG_SCHEMA.schema
+        LEGACY_ENTITY_SELECTOR_CONFIG_SCHEMA.schema
     ).extend(
         {
             vol.Optional("exclude_entities"): [str],
diff --git a/tests/helpers/test_selector.py b/tests/helpers/test_selector.py
index 0e68992d0e4..159f295ab2f 100644
--- a/tests/helpers/test_selector.py
+++ b/tests/helpers/test_selector.py
@@ -88,7 +88,6 @@ def _test_selector(
         ({"integration": "zha"}, ("abc123",), (None,)),
         ({"manufacturer": "mock-manuf"}, ("abc123",), (None,)),
         ({"model": "mock-model"}, ("abc123",), (None,)),
-        ({"model_id": "mock-model_id"}, ("abc123",), (None,)),
         ({"manufacturer": "mock-manuf", "model": "mock-model"}, ("abc123",), (None,)),
         (
             {"integration": "zha", "manufacturer": "mock-manuf", "model": "mock-model"},
@@ -128,6 +127,7 @@ def _test_selector(
                     "integration": "zha",
                     "manufacturer": "mock-manuf",
                     "model": "mock-model",
+                    "model_id": "mock-model_id",
                 }
             },
             ("abc123",),
@@ -140,11 +140,13 @@ def _test_selector(
                         "integration": "zha",
                         "manufacturer": "mock-manuf",
                         "model": "mock-model",
+                        "model_id": "mock-model_id",
                     },
                     {
                         "integration": "matter",
                         "manufacturer": "other-mock-manuf",
                         "model": "other-mock-model",
+                        "model_id": "other-mock-model_id",
                     },
                 ]
             },
@@ -158,6 +160,19 @@ def test_device_selector_schema(schema, valid_selections, invalid_selections) ->
     _test_selector("device", schema, valid_selections, invalid_selections)
 
 
+@pytest.mark.parametrize(
+    "schema",
+    [
+        # model_id should be used under the filter key
+        {"model_id": "mock-model_id"},
+    ],
+)
+def test_device_selector_schema_error(schema) -> None:
+    """Test device selector."""
+    with pytest.raises(vol.Invalid):
+        selector.validate_selector({"device": schema})
+
+
 @pytest.mark.parametrize(
     ("schema", "valid_selections", "invalid_selections"),
     [
@@ -290,10 +305,12 @@ def test_entity_selector_schema(schema, valid_selections, invalid_selections) ->
         {"filter": [{"supported_features": ["light.FooEntityFeature.blah"]}]},
         # Unknown feature enum member
         {"filter": [{"supported_features": ["light.LightEntityFeature.blah"]}]},
+        # supported_features should be used under the filter key
+        {"supported_features": ["light.LightEntityFeature.EFFECT"]},
     ],
 )
 def test_entity_selector_schema_error(schema) -> None:
-    """Test number selector."""
+    """Test entity selector."""
     with pytest.raises(vol.Invalid):
         selector.validate_selector({"entity": schema})