diff --git a/homeassistant/components/esphome/entry_data.py b/homeassistant/components/esphome/entry_data.py
index cf8378008f6..61d6262250c 100644
--- a/homeassistant/components/esphome/entry_data.py
+++ b/homeassistant/components/esphome/entry_data.py
@@ -204,6 +204,7 @@ class RuntimeEntryData:
 
         if self.device_info is not None and self.device_info.voice_assistant_version:
             needed_platforms.add(Platform.BINARY_SENSOR)
+            needed_platforms.add(Platform.SELECT)
 
         for info in infos:
             for info_type, platform in INFO_TYPE_TO_PLATFORM.items():
diff --git a/homeassistant/components/esphome/manifest.json b/homeassistant/components/esphome/manifest.json
index 4c48fba1add..8250746e9a0 100644
--- a/homeassistant/components/esphome/manifest.json
+++ b/homeassistant/components/esphome/manifest.json
@@ -1,10 +1,10 @@
 {
   "domain": "esphome",
   "name": "ESPHome",
-  "after_dependencies": ["zeroconf", "tag", "assist_pipeline"],
+  "after_dependencies": ["zeroconf", "tag"],
   "codeowners": ["@OttoWinter", "@jesserockz"],
   "config_flow": true,
-  "dependencies": ["bluetooth"],
+  "dependencies": ["assist_pipeline", "bluetooth"],
   "dhcp": [
     {
       "registered_devices": true
diff --git a/homeassistant/components/esphome/select.py b/homeassistant/components/esphome/select.py
index 79af0455346..e4cac21dbc8 100644
--- a/homeassistant/components/esphome/select.py
+++ b/homeassistant/components/esphome/select.py
@@ -3,12 +3,20 @@ from __future__ import annotations
 
 from aioesphomeapi import SelectInfo, SelectState
 
+from homeassistant.components.assist_pipeline.select import AssistPipelineSelect
 from homeassistant.components.select import SelectEntity
 from homeassistant.config_entries import ConfigEntry
 from homeassistant.core import HomeAssistant
 from homeassistant.helpers.entity_platform import AddEntitiesCallback
 
-from . import EsphomeEntity, esphome_state_property, platform_async_setup_entry
+from . import (
+    EsphomeAssistEntity,
+    EsphomeEntity,
+    esphome_state_property,
+    platform_async_setup_entry,
+)
+from .domain_data import DomainData
+from .entry_data import RuntimeEntryData
 
 
 async def async_setup_entry(
@@ -27,6 +35,11 @@ async def async_setup_entry(
         state_type=SelectState,
     )
 
+    entry_data = DomainData.get(hass).get_entry_data(entry)
+    assert entry_data.device_info is not None
+    if entry_data.device_info.voice_assistant_version:
+        async_add_entities([EsphomeAssistPipelineSelect(hass, entry_data)])
+
 
 class EsphomeSelect(EsphomeEntity[SelectInfo, SelectState], SelectEntity):
     """A select implementation for esphome."""
@@ -47,3 +60,12 @@ class EsphomeSelect(EsphomeEntity[SelectInfo, SelectState], SelectEntity):
     async def async_select_option(self, option: str) -> None:
         """Change the selected option."""
         await self._client.select_command(self._static_info.key, option)
+
+
+class EsphomeAssistPipelineSelect(EsphomeAssistEntity, AssistPipelineSelect):
+    """Pipeline selector for esphome devices."""
+
+    def __init__(self, hass: HomeAssistant, entry_data: RuntimeEntryData) -> None:
+        """Initialize a pipeline selector."""
+        EsphomeAssistEntity.__init__(self, entry_data)
+        AssistPipelineSelect.__init__(self, hass, self._device_info.mac_address)
diff --git a/homeassistant/components/esphome/strings.json b/homeassistant/components/esphome/strings.json
index 0486da8d204..68ff5e508de 100644
--- a/homeassistant/components/esphome/strings.json
+++ b/homeassistant/components/esphome/strings.json
@@ -51,6 +51,14 @@
       "call_active": {
         "name": "Call Active"
       }
+    },
+    "select": {
+      "pipeline": {
+        "name": "[%key:component::assist_pipeline::entity::select::pipeline::name%]",
+        "state": {
+          "preferred": "[%key:component::assist_pipeline::entity::select::pipeline::state::preferred%]"
+        }
+      }
     }
   },
   "issues": {
diff --git a/tests/components/esphome/conftest.py b/tests/components/esphome/conftest.py
index c1d9f72dd31..f5362b1fb3d 100644
--- a/tests/components/esphome/conftest.py
+++ b/tests/components/esphome/conftest.py
@@ -122,3 +122,38 @@ async def mock_dashboard(hass):
             hass, DASHBOARD_SLUG, DASHBOARD_HOST, DASHBOARD_PORT
         )
         yield data
+
+
+@pytest.fixture
+async def mock_voice_assistant_v1_entry(
+    hass: HomeAssistant,
+    mock_client,
+) -> MockConfigEntry:
+    """Set up an ESPHome entry with voice assistant."""
+    entry = MockConfigEntry(
+        domain=DOMAIN,
+        data={
+            CONF_HOST: "test.local",
+            CONF_PORT: 6053,
+            CONF_PASSWORD: "",
+        },
+    )
+    entry.add_to_hass(hass)
+
+    device_info = DeviceInfo(
+        name="test",
+        friendly_name="Test",
+        voice_assistant_version=1,
+        mac_address="11:22:33:44:55:aa",
+        esphome_version="1.0.0",
+    )
+
+    mock_client.device_info = AsyncMock(return_value=device_info)
+    mock_client.subscribe_voice_assistant = AsyncMock(return_value=Mock())
+
+    await hass.config_entries.async_setup(entry.entry_id)
+    await hass.async_block_till_done()
+    await hass.async_block_till_done()
+    await hass.async_block_till_done()
+
+    return entry
diff --git a/tests/components/esphome/test_binary_sensor.py b/tests/components/esphome/test_binary_sensor.py
index f91da878d03..90cf99747f0 100644
--- a/tests/components/esphome/test_binary_sensor.py
+++ b/tests/components/esphome/test_binary_sensor.py
@@ -1,43 +1,17 @@
 """Test ESPHome binary sensors."""
-from unittest.mock import AsyncMock, Mock
 
-from aioesphomeapi import DeviceInfo
 
-from homeassistant.components.esphome import DOMAIN, DomainData
-from homeassistant.const import CONF_HOST, CONF_PASSWORD, CONF_PORT
+from homeassistant.components.esphome import DomainData
 from homeassistant.core import HomeAssistant
 
-from tests.common import MockConfigEntry
-
 
 async def test_call_active(
     hass: HomeAssistant,
-    mock_client,
+    mock_voice_assistant_v1_entry,
 ) -> None:
     """Test call active binary sensor."""
-    entry = MockConfigEntry(
-        domain=DOMAIN,
-        data={CONF_HOST: "test.local", CONF_PORT: 6053, CONF_PASSWORD: ""},
-    )
-    entry.add_to_hass(hass)
 
-    device_info = DeviceInfo(
-        name="test",
-        friendly_name="Test",
-        voice_assistant_version=1,
-        mac_address="11:22:33:44:55:aa",
-        esphome_version="1.0.0",
-    )
-
-    mock_client.device_info = AsyncMock(return_value=device_info)
-    mock_client.subscribe_voice_assistant = AsyncMock(return_value=Mock())
-
-    await hass.config_entries.async_setup(entry.entry_id)
-    await hass.async_block_till_done()
-    await hass.async_block_till_done()
-    await hass.async_block_till_done()
-
-    entry_data = DomainData.get(hass).get_entry_data(entry)
+    entry_data = DomainData.get(hass).get_entry_data(mock_voice_assistant_v1_entry)
 
     state = hass.states.get("binary_sensor.test_call_active")
     assert state is not None
diff --git a/tests/components/esphome/test_select.py b/tests/components/esphome/test_select.py
new file mode 100644
index 00000000000..dec321ced86
--- /dev/null
+++ b/tests/components/esphome/test_select.py
@@ -0,0 +1,15 @@
+"""Test ESPHome selects."""
+
+
+from homeassistant.core import HomeAssistant
+
+
+async def test_pipeline_selector(
+    hass: HomeAssistant,
+    mock_voice_assistant_v1_entry,
+) -> None:
+    """Test assist pipeline selector."""
+
+    state = hass.states.get("select.test_assist_pipeline")
+    assert state is not None
+    assert state.state == "preferred"