diff --git a/homeassistant/components/esphome/manifest.json b/homeassistant/components/esphome/manifest.json
index b8bedce9556..01e11071b69 100644
--- a/homeassistant/components/esphome/manifest.json
+++ b/homeassistant/components/esphome/manifest.json
@@ -16,7 +16,7 @@
   "loggers": ["aioesphomeapi", "noiseprotocol"],
   "requirements": [
     "async-interrupt==1.1.1",
-    "aioesphomeapi==16.0.5",
+    "aioesphomeapi==16.0.6",
     "bluetooth-data-tools==1.12.0",
     "esphome-dashboard-api==1.2.3"
   ],
diff --git a/requirements_all.txt b/requirements_all.txt
index 462d02e9e80..4111319c2d5 100644
--- a/requirements_all.txt
+++ b/requirements_all.txt
@@ -232,7 +232,7 @@ aioecowitt==2023.5.0
 aioemonitor==1.0.5
 
 # homeassistant.components.esphome
-aioesphomeapi==16.0.5
+aioesphomeapi==16.0.6
 
 # homeassistant.components.flo
 aioflo==2021.11.0
diff --git a/requirements_test_all.txt b/requirements_test_all.txt
index e2ac88724ba..c49f2b1ee57 100644
--- a/requirements_test_all.txt
+++ b/requirements_test_all.txt
@@ -213,7 +213,7 @@ aioecowitt==2023.5.0
 aioemonitor==1.0.5
 
 # homeassistant.components.esphome
-aioesphomeapi==16.0.5
+aioesphomeapi==16.0.6
 
 # homeassistant.components.flo
 aioflo==2021.11.0