diff --git a/homeassistant/components/assist_pipeline/__init__.py b/homeassistant/components/assist_pipeline/__init__.py
index 055b4773be3..9e460464cb9 100644
--- a/homeassistant/components/assist_pipeline/__init__.py
+++ b/homeassistant/components/assist_pipeline/__init__.py
@@ -34,6 +34,7 @@ __all__ = (
     "Pipeline",
     "PipelineEvent",
     "PipelineEventType",
+    "PipelineNotFound",
 )
 
 CONFIG_SCHEMA = cv.empty_config_schema(DOMAIN)
@@ -57,13 +58,10 @@ async def async_pipeline_from_audio_stream(
     conversation_id: str | None = None,
     tts_audio_output: str | None = None,
 ) -> None:
-    """Create an audio pipeline from an audio stream."""
-    pipeline = async_get_pipeline(hass, pipeline_id=pipeline_id)
-    if pipeline is None:
-        raise PipelineNotFound(
-            "pipeline_not_found", f"Pipeline {pipeline_id} not found"
-        )
+    """Create an audio pipeline from an audio stream.
 
+    Raises PipelineNotFound if no pipeline is found.
+    """
     pipeline_input = PipelineInput(
         conversation_id=conversation_id,
         stt_metadata=stt_metadata,
@@ -71,13 +69,12 @@ async def async_pipeline_from_audio_stream(
         run=PipelineRun(
             hass,
             context=context,
-            pipeline=pipeline,
+            pipeline=async_get_pipeline(hass, pipeline_id=pipeline_id),
             start_stage=PipelineStage.STT,
             end_stage=PipelineStage.TTS,
             event_callback=event_callback,
             tts_audio_output=tts_audio_output,
         ),
     )
-
     await pipeline_input.validate()
     await pipeline_input.execute()
diff --git a/homeassistant/components/assist_pipeline/pipeline.py b/homeassistant/components/assist_pipeline/pipeline.py
index c169ab657b8..12764c04f04 100644
--- a/homeassistant/components/assist_pipeline/pipeline.py
+++ b/homeassistant/components/assist_pipeline/pipeline.py
@@ -36,6 +36,7 @@ from .const import DOMAIN
 from .error import (
     IntentRecognitionError,
     PipelineError,
+    PipelineNotFound,
     SpeechToTextError,
     TextToSpeechError,
 )
@@ -208,9 +209,7 @@ async def async_create_default_pipeline(
 
 
 @callback
-def async_get_pipeline(
-    hass: HomeAssistant, pipeline_id: str | None = None
-) -> Pipeline | None:
+def async_get_pipeline(hass: HomeAssistant, pipeline_id: str | None = None) -> Pipeline:
     """Get a pipeline by id or the preferred pipeline."""
     pipeline_data: PipelineData = hass.data[DOMAIN]
 
@@ -218,7 +217,15 @@ def async_get_pipeline(
         # A pipeline was not specified, use the preferred one
         pipeline_id = pipeline_data.pipeline_store.async_get_preferred_item()
 
-    return pipeline_data.pipeline_store.data.get(pipeline_id)
+    pipeline = pipeline_data.pipeline_store.data.get(pipeline_id)
+
+    # If invalid pipeline ID was specified
+    if pipeline is None:
+        raise PipelineNotFound(
+            "pipeline_not_found", f"Pipeline {pipeline_id} not found"
+        )
+
+    return pipeline
 
 
 @callback
diff --git a/homeassistant/components/assist_pipeline/websocket_api.py b/homeassistant/components/assist_pipeline/websocket_api.py
index a4afbe9266a..3d8a07dc0b3 100644
--- a/homeassistant/components/assist_pipeline/websocket_api.py
+++ b/homeassistant/components/assist_pipeline/websocket_api.py
@@ -17,6 +17,7 @@ from homeassistant.helpers import config_validation as cv
 from homeassistant.util import language as language_util
 
 from .const import DOMAIN
+from .error import PipelineNotFound
 from .pipeline import (
     PipelineData,
     PipelineError,
@@ -85,8 +86,9 @@ async def websocket_run(
 ) -> None:
     """Run a pipeline."""
     pipeline_id = msg.get("pipeline")
-    pipeline = async_get_pipeline(hass, pipeline_id=pipeline_id)
-    if pipeline is None:
+    try:
+        pipeline = async_get_pipeline(hass, pipeline_id=pipeline_id)
+    except PipelineNotFound:
         connection.send_error(
             msg["id"],
             "pipeline-not-found",
diff --git a/homeassistant/components/esphome/voice_assistant.py b/homeassistant/components/esphome/voice_assistant.py
index 5cd9c1d931f..efb4162ae1a 100644
--- a/homeassistant/components/esphome/voice_assistant.py
+++ b/homeassistant/components/esphome/voice_assistant.py
@@ -15,6 +15,7 @@ from homeassistant.components import stt, tts
 from homeassistant.components.assist_pipeline import (
     PipelineEvent,
     PipelineEventType,
+    PipelineNotFound,
     async_pipeline_from_audio_stream,
     select as pipeline_select,
 )
@@ -337,6 +338,15 @@ class VoiceAssistantUDPServer(asyncio.DatagramProtocol):
                 await self._tts_done.wait()
 
             _LOGGER.debug("Pipeline finished")
+        except PipelineNotFound:
+            self.handle_event(
+                VoiceAssistantEventType.VOICE_ASSISTANT_ERROR,
+                {
+                    "code": "pipeline not found",
+                    "message": "Selected pipeline timeout",
+                },
+            )
+            _LOGGER.warning("Pipeline not found")
         except asyncio.TimeoutError:
             self.handle_event(
                 VoiceAssistantEventType.VOICE_ASSISTANT_ERROR,
diff --git a/homeassistant/components/voip/voip.py b/homeassistant/components/voip/voip.py
index 8ef03e0ddf0..80e24d6eb83 100644
--- a/homeassistant/components/voip/voip.py
+++ b/homeassistant/components/voip/voip.py
@@ -18,6 +18,7 @@ from homeassistant.components.assist_pipeline import (
     Pipeline,
     PipelineEvent,
     PipelineEventType,
+    PipelineNotFound,
     async_get_pipeline,
     async_pipeline_from_audio_stream,
     select as pipeline_select,
@@ -45,7 +46,11 @@ def make_protocol(
         DOMAIN,
         voip_device.voip_id,
     )
-    pipeline = async_get_pipeline(hass, pipeline_id)
+    try:
+        pipeline: Pipeline | None = async_get_pipeline(hass, pipeline_id)
+    except PipelineNotFound:
+        pipeline = None
+
     if (
         (pipeline is None)
         or (pipeline.stt_engine is None)
@@ -261,6 +266,8 @@ class PipelineRtpDatagramProtocol(RtpDatagramProtocol):
                 await self._tts_done.wait()
 
             _LOGGER.debug("Pipeline finished")
+        except PipelineNotFound:
+            _LOGGER.warning("Pipeline not found")
         except asyncio.TimeoutError:
             # Expected after caller hangs up
             _LOGGER.debug("Pipeline timeout")