diff --git a/.coveragerc b/.coveragerc
index 2d8405a8dbd..237571a212f 100644
--- a/.coveragerc
+++ b/.coveragerc
@@ -316,7 +316,6 @@ omit =
     homeassistant/components/esphome/lock.py
     homeassistant/components/esphome/media_player.py
     homeassistant/components/esphome/number.py
-    homeassistant/components/esphome/sensor.py
     homeassistant/components/esphome/switch.py
     homeassistant/components/etherscan/sensor.py
     homeassistant/components/eufy/*
diff --git a/homeassistant/components/esphome/sensor.py b/homeassistant/components/esphome/sensor.py
index 47757247557..6c1fca1ffef 100644
--- a/homeassistant/components/esphome/sensor.py
+++ b/homeassistant/components/esphome/sensor.py
@@ -95,9 +95,7 @@ class EsphomeSensor(EsphomeEntity[SensorInfo, SensorState], SensorEntity):
     def native_value(self) -> datetime | str | None:
         """Return the state of the entity."""
         state = self._state
-        if math.isnan(state.state):
-            return None
-        if state.missing_state:
+        if math.isnan(state.state) or state.missing_state:
             return None
         if self._attr_device_class == SensorDeviceClass.TIMESTAMP:
             return dt_util.utc_from_timestamp(state.state)
diff --git a/tests/components/esphome/test_sensor.py b/tests/components/esphome/test_sensor.py
new file mode 100644
index 00000000000..5517198341a
--- /dev/null
+++ b/tests/components/esphome/test_sensor.py
@@ -0,0 +1,182 @@
+"""Test ESPHome sensors."""
+from aioesphomeapi import (
+    APIClient,
+    LastResetType,
+    SensorInfo,
+    SensorState,
+    SensorStateClass as ESPHomeSensorStateClass,
+    TextSensorInfo,
+    TextSensorState,
+)
+
+from homeassistant.components.sensor import ATTR_STATE_CLASS, SensorStateClass
+from homeassistant.const import STATE_UNKNOWN
+from homeassistant.core import HomeAssistant
+
+
+async def test_generic_numeric_sensor(
+    hass: HomeAssistant,
+    mock_client: APIClient,
+    mock_generic_device_entry,
+) -> None:
+    """Test a generic sensor entity."""
+    entity_info = [
+        SensorInfo(
+            object_id="mysensor",
+            key=1,
+            name="my sensor",
+            unique_id="my_sensor",
+        )
+    ]
+    states = [SensorState(key=1, state=50)]
+    user_service = []
+    await mock_generic_device_entry(
+        mock_client=mock_client,
+        entity_info=entity_info,
+        user_service=user_service,
+        states=states,
+    )
+    state = hass.states.get("sensor.test_my_sensor")
+    assert state is not None
+    assert state.state == "50"
+
+
+async def test_generic_numeric_sensor_state_class_measurement(
+    hass: HomeAssistant,
+    mock_client: APIClient,
+    mock_generic_device_entry,
+) -> None:
+    """Test a generic sensor entity."""
+    entity_info = [
+        SensorInfo(
+            object_id="mysensor",
+            key=1,
+            name="my sensor",
+            unique_id="my_sensor",
+            state_class=ESPHomeSensorStateClass.MEASUREMENT,
+            device_class="power",
+            unit_of_measurement="W",
+        )
+    ]
+    states = [SensorState(key=1, state=50)]
+    user_service = []
+    await mock_generic_device_entry(
+        mock_client=mock_client,
+        entity_info=entity_info,
+        user_service=user_service,
+        states=states,
+    )
+    state = hass.states.get("sensor.test_my_sensor")
+    assert state is not None
+    assert state.state == "50"
+    assert state.attributes[ATTR_STATE_CLASS] == SensorStateClass.MEASUREMENT
+
+
+async def test_generic_numeric_sensor_device_class_timestamp(
+    hass: HomeAssistant,
+    mock_client: APIClient,
+    mock_generic_device_entry,
+) -> None:
+    """Test a sensor entity that uses timestamp (epoch)."""
+    entity_info = [
+        SensorInfo(
+            object_id="mysensor",
+            key=1,
+            name="my sensor",
+            unique_id="my_sensor",
+            device_class="timestamp",
+        )
+    ]
+    states = [SensorState(key=1, state=1687459432.466624)]
+    user_service = []
+    await mock_generic_device_entry(
+        mock_client=mock_client,
+        entity_info=entity_info,
+        user_service=user_service,
+        states=states,
+    )
+    state = hass.states.get("sensor.test_my_sensor")
+    assert state is not None
+    assert state.state == "2023-06-22T18:43:52+00:00"
+
+
+async def test_generic_numeric_sensor_legacy_last_reset_convert(
+    hass: HomeAssistant,
+    mock_client: APIClient,
+    mock_generic_device_entry,
+) -> None:
+    """Test a state class of measurement with last reset type of auto is converted to total increasing."""
+    entity_info = [
+        SensorInfo(
+            object_id="mysensor",
+            key=1,
+            name="my sensor",
+            unique_id="my_sensor",
+            last_reset_type=LastResetType.AUTO,
+            state_class=ESPHomeSensorStateClass.MEASUREMENT,
+        )
+    ]
+    states = [SensorState(key=1, state=50)]
+    user_service = []
+    await mock_generic_device_entry(
+        mock_client=mock_client,
+        entity_info=entity_info,
+        user_service=user_service,
+        states=states,
+    )
+    state = hass.states.get("sensor.test_my_sensor")
+    assert state is not None
+    assert state.state == "50"
+    assert state.attributes[ATTR_STATE_CLASS] == SensorStateClass.TOTAL_INCREASING
+
+
+async def test_generic_numeric_sensor_missing_state(
+    hass: HomeAssistant, mock_client: APIClient, mock_generic_device_entry
+) -> None:
+    """Test a generic numeric sensor that is missing state."""
+    entity_info = [
+        SensorInfo(
+            object_id="mysensor",
+            key=1,
+            name="my sensor",
+            unique_id="my_sensor",
+        )
+    ]
+    states = [SensorState(key=1, state=True, missing_state=True)]
+    user_service = []
+    await mock_generic_device_entry(
+        mock_client=mock_client,
+        entity_info=entity_info,
+        user_service=user_service,
+        states=states,
+    )
+    state = hass.states.get("sensor.test_my_sensor")
+    assert state is not None
+    assert state.state == STATE_UNKNOWN
+
+
+async def test_generic_text_sensor(
+    hass: HomeAssistant,
+    mock_client: APIClient,
+    mock_generic_device_entry,
+) -> None:
+    """Test a generic text sensor entity."""
+    entity_info = [
+        TextSensorInfo(
+            object_id="mysensor",
+            key=1,
+            name="my sensor",
+            unique_id="my_sensor",
+        )
+    ]
+    states = [TextSensorState(key=1, state="i am a teapot")]
+    user_service = []
+    await mock_generic_device_entry(
+        mock_client=mock_client,
+        entity_info=entity_info,
+        user_service=user_service,
+        states=states,
+    )
+    state = hass.states.get("sensor.test_my_sensor")
+    assert state is not None
+    assert state.state == "i am a teapot"