diff --git a/homeassistant/components/zwave_js/config_flow.py b/homeassistant/components/zwave_js/config_flow.py
index 66cb91f9330..60807471e03 100644
--- a/homeassistant/components/zwave_js/config_flow.py
+++ b/homeassistant/components/zwave_js/config_flow.py
@@ -14,6 +14,7 @@ from zwave_js_server.version import VersionInfo, get_server_version
 from homeassistant import config_entries, exceptions
 from homeassistant.components import usb
 from homeassistant.components.hassio import HassioServiceInfo, is_hassio
+from homeassistant.components.zeroconf import ZeroconfServiceInfo
 from homeassistant.const import CONF_NAME, CONF_URL
 from homeassistant.core import HomeAssistant, callback
 from homeassistant.data_entry_flow import (
@@ -337,6 +338,33 @@ class ConfigFlow(BaseZwaveJSFlow, config_entries.ConfigFlow, domain=DOMAIN):
 
         return await self.async_step_manual()
 
+    async def async_step_zeroconf(
+        self, discovery_info: ZeroconfServiceInfo
+    ) -> FlowResult:
+        """Handle zeroconf discovery."""
+        home_id = str(discovery_info.properties["homeId"])
+        await self.async_set_unique_id(home_id)
+        self._abort_if_unique_id_configured()
+        self.ws_address = f"ws://{discovery_info.host}:{discovery_info.port}"
+        self.context.update({"title_placeholders": {CONF_NAME: home_id}})
+        return await self.async_step_zeroconf_confirm()
+
+    async def async_step_zeroconf_confirm(
+        self, user_input: dict | None = None
+    ) -> FlowResult:
+        """Confirm the setup."""
+        if user_input is not None:
+            return await self.async_step_manual({CONF_URL: self.ws_address})
+
+        assert self.ws_address
+        return self.async_show_form(
+            step_id="zeroconf_confirm",
+            description_placeholders={
+                "home_id": self.unique_id,
+                CONF_URL: self.ws_address[5:],
+            },
+        )
+
     async def async_step_usb(self, discovery_info: usb.UsbServiceInfo) -> FlowResult:
         """Handle USB Discovery."""
         if not is_hassio(self.hass):
diff --git a/homeassistant/components/zwave_js/manifest.json b/homeassistant/components/zwave_js/manifest.json
index c3968181563..cdc81b9478b 100644
--- a/homeassistant/components/zwave_js/manifest.json
+++ b/homeassistant/components/zwave_js/manifest.json
@@ -29,5 +29,6 @@
       ]
     }
   ],
+  "zeroconf": ["_zwave-js-server._tcp.local."],
   "loggers": ["zwave_js_server"]
 }
diff --git a/homeassistant/components/zwave_js/strings.json b/homeassistant/components/zwave_js/strings.json
index 13f65921cdb..91a6eae6ab6 100644
--- a/homeassistant/components/zwave_js/strings.json
+++ b/homeassistant/components/zwave_js/strings.json
@@ -36,6 +36,10 @@
       },
       "hassio_confirm": {
         "title": "Set up Z-Wave JS integration with the Z-Wave JS add-on"
+      },
+      "zeroconf_confirm": {
+        "description": "Do you want to add the Z-Wave JS Server with home ID {home_id} found at {url} to Home Assistant?",
+        "title": "Discovered Z-Wave JS Server"
       }
     },
     "error": {
diff --git a/homeassistant/components/zwave_js/translations/en.json b/homeassistant/components/zwave_js/translations/en.json
index 3962674ff9c..843f2aaf284 100644
--- a/homeassistant/components/zwave_js/translations/en.json
+++ b/homeassistant/components/zwave_js/translations/en.json
@@ -26,7 +26,6 @@
         "step": {
             "configure_addon": {
                 "data": {
-                    "network_key": "Network Key",
                     "s0_legacy_key": "S0 Key (Legacy)",
                     "s2_access_control_key": "S2 Access Control Key",
                     "s2_authenticated_key": "S2 Authenticated Key",
@@ -59,6 +58,10 @@
             },
             "usb_confirm": {
                 "description": "Do you want to setup {name} with the Z-Wave JS add-on?"
+            },
+            "zeroconf_confirm": {
+                "description": "Do you want to add the Z-Wave JS Server with home ID {home_id} found at {url} to Home Assistant?",
+                "title": "Discovered Z-Wave JS Server"
             }
         }
     },
@@ -113,7 +116,6 @@
                 "data": {
                     "emulate_hardware": "Emulate Hardware",
                     "log_level": "Log level",
-                    "network_key": "Network Key",
                     "s0_legacy_key": "S0 Key (Legacy)",
                     "s2_access_control_key": "S2 Access Control Key",
                     "s2_authenticated_key": "S2 Authenticated Key",
@@ -142,6 +144,5 @@
                 "title": "The Z-Wave JS add-on is starting."
             }
         }
-    },
-    "title": "Z-Wave JS"
+    }
 }
\ No newline at end of file
diff --git a/homeassistant/generated/zeroconf.py b/homeassistant/generated/zeroconf.py
index 9c3776155e1..2a0a4d767a9 100644
--- a/homeassistant/generated/zeroconf.py
+++ b/homeassistant/generated/zeroconf.py
@@ -377,6 +377,11 @@ ZEROCONF = {
         {
             "domain": "kodi"
         }
+    ],
+    "_zwave-js-server._tcp.local.": [
+        {
+            "domain": "zwave_js"
+        }
     ]
 }
 
diff --git a/tests/components/zwave_js/test_config_flow.py b/tests/components/zwave_js/test_config_flow.py
index 07a3f1305a5..f107a5fd8e2 100644
--- a/tests/components/zwave_js/test_config_flow.py
+++ b/tests/components/zwave_js/test_config_flow.py
@@ -10,6 +10,7 @@ from homeassistant import config_entries
 from homeassistant.components import usb
 from homeassistant.components.hassio import HassioServiceInfo
 from homeassistant.components.hassio.handler import HassioAPIError
+from homeassistant.components.zeroconf import ZeroconfServiceInfo
 from homeassistant.components.zwave_js.config_flow import SERVER_VERSION_TIMEOUT, TITLE
 from homeassistant.components.zwave_js.const import DOMAIN
 
@@ -2459,3 +2460,48 @@ async def test_import_addon_installed(
     }
     assert len(mock_setup.mock_calls) == 1
     assert len(mock_setup_entry.mock_calls) == 1
+
+
+async def test_zeroconf(hass):
+    """Test zeroconf discovery."""
+
+    result = await hass.config_entries.flow.async_init(
+        DOMAIN,
+        context={"source": config_entries.SOURCE_ZEROCONF},
+        data=ZeroconfServiceInfo(
+            host="localhost",
+            addresses=["127.0.0.1"],
+            hostname="mock_hostname",
+            name="mock_name",
+            port=3000,
+            type="_zwave-js-server._tcp.local.",
+            properties={"homeId": "1234"},
+        ),
+    )
+
+    assert result["type"] == "form"
+    assert result["step_id"] == "zeroconf_confirm"
+
+    with patch(
+        "homeassistant.components.zwave_js.async_setup", return_value=True
+    ) as mock_setup, patch(
+        "homeassistant.components.zwave_js.async_setup_entry",
+        return_value=True,
+    ) as mock_setup_entry:
+        result = await hass.config_entries.flow.async_configure(result["flow_id"], {})
+        await hass.async_block_till_done()
+
+    assert result["type"] == "create_entry"
+    assert result["title"] == TITLE
+    assert result["data"] == {
+        "url": "ws://localhost:3000",
+        "usb_path": None,
+        "s0_legacy_key": None,
+        "s2_access_control_key": None,
+        "s2_authenticated_key": None,
+        "s2_unauthenticated_key": None,
+        "use_addon": False,
+        "integration_created_addon": False,
+    }
+    assert len(mock_setup.mock_calls) == 1
+    assert len(mock_setup_entry.mock_calls) == 1