diff --git a/homeassistant/components/device_tracker/__init__.py b/homeassistant/components/device_tracker/__init__.py
index fa537d4af53..035b1923c4c 100644
--- a/homeassistant/components/device_tracker/__init__.py
+++ b/homeassistant/components/device_tracker/__init__.py
@@ -19,6 +19,7 @@ from .const import (  # noqa: F401
     CONF_SCAN_INTERVAL,
     CONF_TRACK_NEW,
     DOMAIN,
+    ENTITY_ID_FORMAT,
     SOURCE_TYPE_BLUETOOTH,
     SOURCE_TYPE_BLUETOOTH_LE,
     SOURCE_TYPE_GPS,
diff --git a/homeassistant/components/device_tracker/const.py b/homeassistant/components/device_tracker/const.py
index 09102372db6..216255b9cb6 100644
--- a/homeassistant/components/device_tracker/const.py
+++ b/homeassistant/components/device_tracker/const.py
@@ -6,6 +6,7 @@ from typing import Final
 LOGGER: Final = logging.getLogger(__package__)
 
 DOMAIN: Final = "device_tracker"
+ENTITY_ID_FORMAT: Final = DOMAIN + ".{}"
 
 PLATFORM_TYPE_LEGACY: Final = "legacy"
 PLATFORM_TYPE_ENTITY: Final = "entity_platform"
diff --git a/homeassistant/components/humidifier/__init__.py b/homeassistant/components/humidifier/__init__.py
index d15f70f181a..48a71662be1 100644
--- a/homeassistant/components/humidifier/__init__.py
+++ b/homeassistant/components/humidifier/__init__.py
@@ -47,6 +47,8 @@ _LOGGER = logging.getLogger(__name__)
 
 SCAN_INTERVAL = timedelta(seconds=60)
 
+ENTITY_ID_FORMAT = DOMAIN + ".{}"
+
 DEVICE_CLASSES = [DEVICE_CLASS_HUMIDIFIER, DEVICE_CLASS_DEHUMIDIFIER]
 
 DEVICE_CLASSES_SCHEMA = vol.All(vol.Lower, vol.In(DEVICE_CLASSES))
diff --git a/homeassistant/components/mqtt/abbreviations.py b/homeassistant/components/mqtt/abbreviations.py
index 155667b00cb..71a8d109c3f 100644
--- a/homeassistant/components/mqtt/abbreviations.py
+++ b/homeassistant/components/mqtt/abbreviations.py
@@ -97,6 +97,7 @@ ABBREVIATIONS = {
     "mode_stat_tpl": "mode_state_template",
     "modes": "modes",
     "name": "name",
+    "obj_id": "object_id",
     "off_dly": "off_delay",
     "on_cmd_type": "on_command_type",
     "ops": "options",
diff --git a/homeassistant/components/mqtt/alarm_control_panel.py b/homeassistant/components/mqtt/alarm_control_panel.py
index 5ac6e5ea89a..ffea92f14c3 100644
--- a/homeassistant/components/mqtt/alarm_control_panel.py
+++ b/homeassistant/components/mqtt/alarm_control_panel.py
@@ -126,6 +126,7 @@ async def _async_setup_entity(
 class MqttAlarm(MqttEntity, alarm.AlarmControlPanelEntity):
     """Representation of a MQTT alarm status."""
 
+    _entity_id_format = alarm.ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_ALARM_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/binary_sensor.py b/homeassistant/components/mqtt/binary_sensor.py
index 213aabdb006..1928f79032d 100644
--- a/homeassistant/components/mqtt/binary_sensor.py
+++ b/homeassistant/components/mqtt/binary_sensor.py
@@ -87,6 +87,8 @@ async def _async_setup_entity(
 class MqttBinarySensor(MqttEntity, BinarySensorEntity):
     """Representation a binary sensor that is updated by MQTT."""
 
+    _entity_id_format = binary_sensor.ENTITY_ID_FORMAT
+
     def __init__(self, hass, config, config_entry, discovery_data):
         """Initialize the MQTT binary sensor."""
         self._state = None
diff --git a/homeassistant/components/mqtt/camera.py b/homeassistant/components/mqtt/camera.py
index 39457dbd629..a9fdfb96a6c 100644
--- a/homeassistant/components/mqtt/camera.py
+++ b/homeassistant/components/mqtt/camera.py
@@ -66,6 +66,7 @@ async def _async_setup_entity(
 class MqttCamera(MqttEntity, Camera):
     """representation of a MQTT camera."""
 
+    _entity_id_format = camera.ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_CAMERA_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/climate.py b/homeassistant/components/mqtt/climate.py
index 5b186ff9126..b4b1875c4df 100644
--- a/homeassistant/components/mqtt/climate.py
+++ b/homeassistant/components/mqtt/climate.py
@@ -297,6 +297,7 @@ async def _async_setup_entity(
 class MqttClimate(MqttEntity, ClimateEntity):
     """Representation of an MQTT climate device."""
 
+    _entity_id_format = climate.ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_CLIMATE_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/cover.py b/homeassistant/components/mqtt/cover.py
index 859d9811617..c2800cc8239 100644
--- a/homeassistant/components/mqtt/cover.py
+++ b/homeassistant/components/mqtt/cover.py
@@ -224,6 +224,7 @@ async def _async_setup_entity(
 class MqttCover(MqttEntity, CoverEntity):
     """Representation of a cover that can be controlled using MQTT."""
 
+    _entity_id_format = cover.ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_COVER_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/device_tracker/schema_discovery.py b/homeassistant/components/mqtt/device_tracker/schema_discovery.py
index f962d9208a4..1ccf03423de 100644
--- a/homeassistant/components/mqtt/device_tracker/schema_discovery.py
+++ b/homeassistant/components/mqtt/device_tracker/schema_discovery.py
@@ -58,6 +58,8 @@ async def _async_setup_entity(
 class MqttDeviceTracker(MqttEntity, TrackerEntity):
     """Representation of a device tracker using MQTT."""
 
+    _entity_id_format = device_tracker.ENTITY_ID_FORMAT
+
     def __init__(self, hass, config, config_entry, discovery_data):
         """Initialize the tracker."""
         self._location_name = None
diff --git a/homeassistant/components/mqtt/fan.py b/homeassistant/components/mqtt/fan.py
index f1040825cdf..9d0c954f3ab 100644
--- a/homeassistant/components/mqtt/fan.py
+++ b/homeassistant/components/mqtt/fan.py
@@ -230,6 +230,7 @@ async def _async_setup_entity(
 class MqttFan(MqttEntity, FanEntity):
     """A MQTT fan component."""
 
+    _entity_id_format = fan.ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_FAN_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/humidifier.py b/homeassistant/components/mqtt/humidifier.py
index e4f578ef94c..a5346c0bf58 100644
--- a/homeassistant/components/mqtt/humidifier.py
+++ b/homeassistant/components/mqtt/humidifier.py
@@ -163,6 +163,7 @@ async def _async_setup_entity(
 class MqttHumidifier(MqttEntity, HumidifierEntity):
     """A MQTT humidifier component."""
 
+    _entity_id_format = humidifier.ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_HUMIDIFIER_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/light/schema_basic.py b/homeassistant/components/mqtt/light/schema_basic.py
index 1909d7e136b..c0fc65610fd 100644
--- a/homeassistant/components/mqtt/light/schema_basic.py
+++ b/homeassistant/components/mqtt/light/schema_basic.py
@@ -29,6 +29,7 @@ from homeassistant.components.light import (
     COLOR_MODE_UNKNOWN,
     COLOR_MODE_WHITE,
     COLOR_MODE_XY,
+    ENTITY_ID_FORMAT,
     SUPPORT_BRIGHTNESS,
     SUPPORT_COLOR,
     SUPPORT_COLOR_TEMP,
@@ -239,6 +240,7 @@ async def async_setup_entity_basic(
 class MqttLight(MqttEntity, LightEntity, RestoreEntity):
     """Representation of a MQTT light."""
 
+    _entity_id_format = ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_LIGHT_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/light/schema_json.py b/homeassistant/components/mqtt/light/schema_json.py
index 412205ea9cf..0ba796df4e7 100644
--- a/homeassistant/components/mqtt/light/schema_json.py
+++ b/homeassistant/components/mqtt/light/schema_json.py
@@ -24,6 +24,7 @@ from homeassistant.components.light import (
     COLOR_MODE_RGBW,
     COLOR_MODE_RGBWW,
     COLOR_MODE_XY,
+    ENTITY_ID_FORMAT,
     FLASH_LONG,
     FLASH_SHORT,
     SUPPORT_BRIGHTNESS,
@@ -167,6 +168,7 @@ async def async_setup_entity_json(
 class MqttLightJson(MqttEntity, LightEntity, RestoreEntity):
     """Representation of a MQTT JSON light."""
 
+    _entity_id_format = ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_LIGHT_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/light/schema_template.py b/homeassistant/components/mqtt/light/schema_template.py
index 0a19fbb9836..838daab5860 100644
--- a/homeassistant/components/mqtt/light/schema_template.py
+++ b/homeassistant/components/mqtt/light/schema_template.py
@@ -11,6 +11,7 @@ from homeassistant.components.light import (
     ATTR_HS_COLOR,
     ATTR_TRANSITION,
     ATTR_WHITE_VALUE,
+    ENTITY_ID_FORMAT,
     SUPPORT_BRIGHTNESS,
     SUPPORT_COLOR,
     SUPPORT_COLOR_TEMP,
@@ -97,6 +98,7 @@ async def async_setup_entity_template(
 class MqttLightTemplate(MqttEntity, LightEntity, RestoreEntity):
     """Representation of a MQTT Template light."""
 
+    _entity_id_format = ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_LIGHT_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/lock.py b/homeassistant/components/mqtt/lock.py
index 8de4c4431b9..5410af5d38c 100644
--- a/homeassistant/components/mqtt/lock.py
+++ b/homeassistant/components/mqtt/lock.py
@@ -78,6 +78,7 @@ async def _async_setup_entity(
 class MqttLock(MqttEntity, LockEntity):
     """Representation of a lock that can be toggled using MQTT."""
 
+    _entity_id_format = lock.ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_LOCK_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/mixins.py b/homeassistant/components/mqtt/mixins.py
index 7cfc00da578..3a374070f2f 100644
--- a/homeassistant/components/mqtt/mixins.py
+++ b/homeassistant/components/mqtt/mixins.py
@@ -28,7 +28,12 @@ from homeassistant.helpers.dispatcher import (
     async_dispatcher_connect,
     async_dispatcher_send,
 )
-from homeassistant.helpers.entity import ENTITY_CATEGORIES_SCHEMA, DeviceInfo, Entity
+from homeassistant.helpers.entity import (
+    ENTITY_CATEGORIES_SCHEMA,
+    DeviceInfo,
+    Entity,
+    async_generate_entity_id,
+)
 from homeassistant.helpers.typing import ConfigType
 
 from . import DATA_MQTT, debug_info, publish, subscription
@@ -82,6 +87,7 @@ CONF_VIA_DEVICE = "via_device"
 CONF_DEPRECATED_VIA_HUB = "via_hub"
 CONF_SUGGESTED_AREA = "suggested_area"
 CONF_CONFIGURATION_URL = "configuration_url"
+CONF_OBJECT_ID = "object_id"
 
 MQTT_ATTRIBUTES_BLOCKED = {
     "assumed_state",
@@ -183,6 +189,7 @@ MQTT_ENTITY_COMMON_SCHEMA = MQTT_AVAILABILITY_SCHEMA.extend(
         vol.Optional(CONF_ICON): cv.icon,
         vol.Optional(CONF_JSON_ATTRS_TOPIC): valid_subscribe_topic,
         vol.Optional(CONF_JSON_ATTRS_TEMPLATE): cv.template,
+        vol.Optional(CONF_OBJECT_ID): cv.string,
         vol.Optional(CONF_UNIQUE_ID): cv.string,
     }
 )
@@ -210,6 +217,14 @@ async def async_setup_entry_helper(hass, domain, async_setup, schema):
     )
 
 
+def init_entity_id_from_config(hass, entity, config, entity_id_format):
+    """Set entity_id from object_id if defined in config."""
+    if CONF_OBJECT_ID in config:
+        entity.entity_id = async_generate_entity_id(
+            entity_id_format, config[CONF_OBJECT_ID], None, hass
+        )
+
+
 class MqttAttributes(Entity):
     """Mixin used for platforms that support JSON attributes."""
 
@@ -588,6 +603,8 @@ class MqttEntity(
 ):
     """Representation of an MQTT entity."""
 
+    _entity_id_format: str
+
     def __init__(self, hass, config, config_entry, discovery_data):
         """Init the MQTT Entity."""
         self.hass = hass
@@ -598,12 +615,21 @@ class MqttEntity(
         # Load config
         self._setup_from_config(self._config)
 
+        # Initialize entity_id from config
+        self._init_entity_id()
+
         # Initialize mixin classes
         MqttAttributes.__init__(self, config)
         MqttAvailability.__init__(self, config)
         MqttDiscoveryUpdate.__init__(self, discovery_data, self.discovery_update)
         MqttEntityDeviceInfo.__init__(self, config.get(CONF_DEVICE), config_entry)
 
+    def _init_entity_id(self):
+        """Set entity_id from object_id if defined in config."""
+        init_entity_id_from_config(
+            self.hass, self, self._config, self._entity_id_format
+        )
+
     async def async_added_to_hass(self):
         """Subscribe mqtt events."""
         await super().async_added_to_hass()
diff --git a/homeassistant/components/mqtt/number.py b/homeassistant/components/mqtt/number.py
index 6d0163abe32..29f6b4bad21 100644
--- a/homeassistant/components/mqtt/number.py
+++ b/homeassistant/components/mqtt/number.py
@@ -114,6 +114,7 @@ async def _async_setup_entity(
 class MqttNumber(MqttEntity, NumberEntity, RestoreEntity):
     """representation of an MQTT number."""
 
+    _entity_id_format = number.ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_NUMBER_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/scene.py b/homeassistant/components/mqtt/scene.py
index c2b201e20e6..67b757e5e8a 100644
--- a/homeassistant/components/mqtt/scene.py
+++ b/homeassistant/components/mqtt/scene.py
@@ -15,10 +15,12 @@ from . import PLATFORMS
 from .. import mqtt
 from .const import CONF_COMMAND_TOPIC, CONF_QOS, CONF_RETAIN, DOMAIN
 from .mixins import (
+    CONF_OBJECT_ID,
     MQTT_AVAILABILITY_SCHEMA,
     MqttAvailability,
     MqttDiscoveryUpdate,
     async_setup_entry_helper,
+    init_entity_id_from_config,
 )
 
 DEFAULT_NAME = "MQTT Scene"
@@ -32,6 +34,7 @@ PLATFORM_SCHEMA = mqtt.MQTT_BASE_PLATFORM_SCHEMA.extend(
         vol.Optional(CONF_PAYLOAD_ON): cv.string,
         vol.Optional(CONF_UNIQUE_ID): cv.string,
         vol.Optional(CONF_RETAIN, default=DEFAULT_RETAIN): cv.boolean,
+        vol.Optional(CONF_OBJECT_ID): cv.string,
     }
 ).extend(MQTT_AVAILABILITY_SCHEMA.schema)
 
@@ -43,22 +46,22 @@ async def async_setup_platform(
 ):
     """Set up MQTT scene through configuration.yaml."""
     await async_setup_reload_service(hass, DOMAIN, PLATFORMS)
-    await _async_setup_entity(async_add_entities, config)
+    await _async_setup_entity(hass, async_add_entities, config)
 
 
 async def async_setup_entry(hass, config_entry, async_add_entities):
     """Set up MQTT scene dynamically through MQTT discovery."""
     setup = functools.partial(
-        _async_setup_entity, async_add_entities, config_entry=config_entry
+        _async_setup_entity, hass, async_add_entities, config_entry=config_entry
     )
     await async_setup_entry_helper(hass, scene.DOMAIN, setup, DISCOVERY_SCHEMA)
 
 
 async def _async_setup_entity(
-    async_add_entities, config, config_entry=None, discovery_data=None
+    hass, async_add_entities, config, config_entry=None, discovery_data=None
 ):
     """Set up the MQTT scene."""
-    async_add_entities([MqttScene(config, config_entry, discovery_data)])
+    async_add_entities([MqttScene(hass, config, config_entry, discovery_data)])
 
 
 class MqttScene(
@@ -68,8 +71,11 @@ class MqttScene(
 ):
     """Representation of a scene that can be activated using MQTT."""
 
-    def __init__(self, config, config_entry, discovery_data):
+    _entity_id_format = scene.DOMAIN + ".{}"
+
+    def __init__(self, hass, config, config_entry, discovery_data):
         """Initialize the MQTT scene."""
+        self.hass = hass
         self._state = False
         self._sub_state = None
 
@@ -78,9 +84,18 @@ class MqttScene(
         # Load config
         self._setup_from_config(config)
 
+        # Initialize entity_id from config
+        self._init_entity_id()
+
         MqttAvailability.__init__(self, config)
         MqttDiscoveryUpdate.__init__(self, discovery_data, self.discovery_update)
 
+    def _init_entity_id(self):
+        """Set entity_id from object_id if defined in config."""
+        init_entity_id_from_config(
+            self.hass, self, self._config, self._entity_id_format
+        )
+
     async def async_added_to_hass(self):
         """Subscribe to MQTT events."""
         await super().async_added_to_hass()
diff --git a/homeassistant/components/mqtt/select.py b/homeassistant/components/mqtt/select.py
index c43593dfc4b..45304d68079 100644
--- a/homeassistant/components/mqtt/select.py
+++ b/homeassistant/components/mqtt/select.py
@@ -90,6 +90,8 @@ async def _async_setup_entity(
 class MqttSelect(MqttEntity, SelectEntity, RestoreEntity):
     """representation of an MQTT select."""
 
+    _entity_id_format = select.ENTITY_ID_FORMAT
+
     _attributes_extra_blocked = MQTT_SELECT_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/sensor.py b/homeassistant/components/mqtt/sensor.py
index 3881dfee0e8..4d0f610300f 100644
--- a/homeassistant/components/mqtt/sensor.py
+++ b/homeassistant/components/mqtt/sensor.py
@@ -11,6 +11,7 @@ from homeassistant.components import sensor
 from homeassistant.components.sensor import (
     CONF_STATE_CLASS,
     DEVICE_CLASSES_SCHEMA,
+    ENTITY_ID_FORMAT,
     STATE_CLASSES_SCHEMA,
     SensorEntity,
 )
@@ -132,6 +133,7 @@ async def _async_setup_entity(
 class MqttSensor(MqttEntity, SensorEntity):
     """Representation of a sensor that can be updated using MQTT."""
 
+    _entity_id_format = ENTITY_ID_FORMAT
     _attr_last_reset = None
     _attributes_extra_blocked = MQTT_SENSOR_ATTRIBUTES_BLOCKED
 
diff --git a/homeassistant/components/mqtt/switch.py b/homeassistant/components/mqtt/switch.py
index 9cc13ac94bd..8f9178c15f1 100644
--- a/homeassistant/components/mqtt/switch.py
+++ b/homeassistant/components/mqtt/switch.py
@@ -84,6 +84,7 @@ async def _async_setup_entity(
 class MqttSwitch(MqttEntity, SwitchEntity, RestoreEntity):
     """Representation of a switch that can be toggled using MQTT."""
 
+    _entity_id_format = switch.ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_SWITCH_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/vacuum/schema_legacy.py b/homeassistant/components/mqtt/vacuum/schema_legacy.py
index 63bb47ce21b..b19d4afe23e 100644
--- a/homeassistant/components/mqtt/vacuum/schema_legacy.py
+++ b/homeassistant/components/mqtt/vacuum/schema_legacy.py
@@ -5,6 +5,7 @@ import voluptuous as vol
 
 from homeassistant.components.vacuum import (
     ATTR_STATUS,
+    ENTITY_ID_FORMAT,
     SUPPORT_BATTERY,
     SUPPORT_CLEAN_SPOT,
     SUPPORT_FAN_SPEED,
@@ -169,6 +170,7 @@ async def async_setup_entity_legacy(
 class MqttVacuum(MqttEntity, VacuumEntity):
     """Representation of a MQTT-controlled legacy vacuum."""
 
+    _entity_id_format = ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_LEGACY_VACUUM_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/mqtt/vacuum/schema_state.py b/homeassistant/components/mqtt/vacuum/schema_state.py
index 8c654a526e4..0bfb7289f37 100644
--- a/homeassistant/components/mqtt/vacuum/schema_state.py
+++ b/homeassistant/components/mqtt/vacuum/schema_state.py
@@ -4,6 +4,7 @@ import json
 import voluptuous as vol
 
 from homeassistant.components.vacuum import (
+    ENTITY_ID_FORMAT,
     STATE_CLEANING,
     STATE_DOCKED,
     STATE_ERROR,
@@ -149,6 +150,7 @@ async def async_setup_entity_state(
 class MqttStateVacuum(MqttEntity, StateVacuumEntity):
     """Representation of a MQTT-controlled state vacuum."""
 
+    _entity_id_format = ENTITY_ID_FORMAT
     _attributes_extra_blocked = MQTT_VACUUM_ATTRIBUTES_BLOCKED
 
     def __init__(self, hass, config, config_entry, discovery_data):
diff --git a/homeassistant/components/vacuum/__init__.py b/homeassistant/components/vacuum/__init__.py
index 87d8d6f49f8..db186a464fa 100644
--- a/homeassistant/components/vacuum/__init__.py
+++ b/homeassistant/components/vacuum/__init__.py
@@ -40,6 +40,7 @@ from homeassistant.loader import bind_hass
 _LOGGER = logging.getLogger(__name__)
 
 DOMAIN = "vacuum"
+ENTITY_ID_FORMAT = DOMAIN + ".{}"
 SCAN_INTERVAL = timedelta(seconds=20)
 
 ATTR_BATTERY_ICON = "battery_icon"
diff --git a/tests/components/mqtt/test_discovery.py b/tests/components/mqtt/test_discovery.py
index 60c3961477b..08eb4b882c5 100644
--- a/tests/components/mqtt/test_discovery.py
+++ b/tests/components/mqtt/test_discovery.py
@@ -191,6 +191,158 @@ async def test_discover_alarm_control_panel(hass, mqtt_mock, caplog):
     assert ("alarm_control_panel", "bla") in hass.data[ALREADY_DISCOVERED]
 
 
+@pytest.mark.parametrize(
+    "topic, config, entity_id, name, domain",
+    [
+        (
+            "homeassistant/alarm_control_panel/object/bla/config",
+            '{ "name": "Hello World 1", "obj_id": "hello_id", "state_topic": "test-topic", "command_topic": "test-topic" }',
+            "alarm_control_panel.hello_id",
+            "Hello World 1",
+            "alarm_control_panel",
+        ),
+        (
+            "homeassistant/binary_sensor/object/bla/config",
+            '{ "name": "Hello World 2", "obj_id": "hello_id", "state_topic": "test-topic" }',
+            "binary_sensor.hello_id",
+            "Hello World 2",
+            "binary_sensor",
+        ),
+        (
+            "homeassistant/camera/object/bla/config",
+            '{ "name": "Hello World 3", "obj_id": "hello_id", "state_topic": "test-topic", "topic": "test-topic" }',
+            "camera.hello_id",
+            "Hello World 3",
+            "camera",
+        ),
+        (
+            "homeassistant/climate/object/bla/config",
+            '{ "name": "Hello World 4", "obj_id": "hello_id", "state_topic": "test-topic" }',
+            "climate.hello_id",
+            "Hello World 4",
+            "climate",
+        ),
+        (
+            "homeassistant/cover/object/bla/config",
+            '{ "name": "Hello World 5", "obj_id": "hello_id", "state_topic": "test-topic" }',
+            "cover.hello_id",
+            "Hello World 5",
+            "cover",
+        ),
+        (
+            "homeassistant/fan/object/bla/config",
+            '{ "name": "Hello World 6", "obj_id": "hello_id", "state_topic": "test-topic", "command_topic": "test-topic" }',
+            "fan.hello_id",
+            "Hello World 6",
+            "fan",
+        ),
+        (
+            "homeassistant/humidifier/object/bla/config",
+            '{ "name": "Hello World 7", "obj_id": "hello_id", "state_topic": "test-topic", "target_humidity_command_topic": "test-topic", "command_topic": "test-topic" }',
+            "humidifier.hello_id",
+            "Hello World 7",
+            "humidifier",
+        ),
+        (
+            "homeassistant/number/object/bla/config",
+            '{ "name": "Hello World 8", "obj_id": "hello_id", "state_topic": "test-topic", "command_topic": "test-topic" }',
+            "number.hello_id",
+            "Hello World 8",
+            "number",
+        ),
+        (
+            "homeassistant/scene/object/bla/config",
+            '{ "name": "Hello World 9", "obj_id": "hello_id", "state_topic": "test-topic", "command_topic": "test-topic" }',
+            "scene.hello_id",
+            "Hello World 9",
+            "scene",
+        ),
+        (
+            "homeassistant/select/object/bla/config",
+            '{ "name": "Hello World 10", "obj_id": "hello_id", "state_topic": "test-topic", "options": [ "opt1", "opt2" ], "command_topic": "test-topic" }',
+            "select.hello_id",
+            "Hello World 10",
+            "select",
+        ),
+        (
+            "homeassistant/sensor/object/bla/config",
+            '{ "name": "Hello World 11", "obj_id": "hello_id", "state_topic": "test-topic" }',
+            "sensor.hello_id",
+            "Hello World 11",
+            "sensor",
+        ),
+        (
+            "homeassistant/switch/object/bla/config",
+            '{ "name": "Hello World 12", "obj_id": "hello_id", "state_topic": "test-topic", "command_topic": "test-topic" }',
+            "switch.hello_id",
+            "Hello World 12",
+            "switch",
+        ),
+        (
+            "homeassistant/light/object/bla/config",
+            '{ "name": "Hello World 13", "obj_id": "hello_id", "state_topic": "test-topic", "command_topic": "test-topic" }',
+            "light.hello_id",
+            "Hello World 13",
+            "light",
+        ),
+        (
+            "homeassistant/light/object/bla/config",
+            '{ "name": "Hello World 14", "obj_id": "hello_id", "state_topic": "test-topic", "command_topic": "test-topic", "schema": "json" }',
+            "light.hello_id",
+            "Hello World 14",
+            "light",
+        ),
+        (
+            "homeassistant/light/object/bla/config",
+            '{ "name": "Hello World 15", "obj_id": "hello_id", "state_topic": "test-topic", "command_off_template": "template", "command_on_template": "template", "command_topic": "test-topic", "schema": "template" }',
+            "light.hello_id",
+            "Hello World 15",
+            "light",
+        ),
+        (
+            "homeassistant/vacuum/object/bla/config",
+            '{ "name": "Hello World 16", "obj_id": "hello_id", "state_topic": "test-topic", "schema": "state" }',
+            "vacuum.hello_id",
+            "Hello World 16",
+            "vacuum",
+        ),
+        (
+            "homeassistant/vacuum/object/bla/config",
+            '{ "name": "Hello World 17", "obj_id": "hello_id", "state_topic": "test-topic", "schema": "legacy" }',
+            "vacuum.hello_id",
+            "Hello World 17",
+            "vacuum",
+        ),
+        (
+            "homeassistant/lock/object/bla/config",
+            '{ "name": "Hello World 18", "obj_id": "hello_id", "state_topic": "test-topic", "command_topic": "test-topic" }',
+            "lock.hello_id",
+            "Hello World 18",
+            "lock",
+        ),
+        (
+            "homeassistant/device_tracker/object/bla/config",
+            '{ "name": "Hello World 19", "obj_id": "hello_id", "state_topic": "test-topic" }',
+            "device_tracker.hello_id",
+            "Hello World 19",
+            "device_tracker",
+        ),
+    ],
+)
+async def test_discovery_with_object_id(
+    hass, mqtt_mock, caplog, topic, config, entity_id, name, domain
+):
+    """Test discovering an MQTT entity with object_id."""
+    async_fire_mqtt_message(hass, topic, config)
+    await hass.async_block_till_done()
+
+    state = hass.states.get(entity_id)
+
+    assert state is not None
+    assert state.name == name
+    assert (domain, "object bla") in hass.data[ALREADY_DISCOVERED]
+
+
 async def test_discovery_incl_nodeid(hass, mqtt_mock, caplog):
     """Test sending in correct JSON with optional node_id included."""
     async_fire_mqtt_message(