diff --git a/homeassistant/components/zeroconf/__init__.py b/homeassistant/components/zeroconf/__init__.py
index fdf4b98faf8..2ef7db3a1b4 100644
--- a/homeassistant/components/zeroconf/__init__.py
+++ b/homeassistant/components/zeroconf/__init__.py
@@ -45,7 +45,11 @@ ATTR_TYPE = "type"
 ATTR_PROPERTIES = "properties"
 
 ZEROCONF_TYPE = "_home-assistant._tcp.local."
-HOMEKIT_TYPE = "_hap._tcp.local."
+HOMEKIT_TYPES = [
+    "_hap._tcp.local.",
+    # Thread based devices
+    "_hap._udp.local.",
+]
 
 CONF_DEFAULT_INTERFACE = "default_interface"
 CONF_IPV6 = "ipv6"
@@ -229,8 +233,9 @@ async def _async_start_zeroconf_browser(hass, zeroconf):
 
     types = list(zeroconf_types)
 
-    if HOMEKIT_TYPE not in zeroconf_types:
-        types.append(HOMEKIT_TYPE)
+    for hk_type in HOMEKIT_TYPES:
+        if hk_type not in zeroconf_types:
+            types.append(hk_type)
 
     def service_update(zeroconf, service_type, name, state_change):
         """Service state changed."""
@@ -261,7 +266,7 @@ async def _async_start_zeroconf_browser(hass, zeroconf):
         _LOGGER.debug("Discovered new device %s %s", name, info)
 
         # If we can handle it as a HomeKit discovery, we do that here.
-        if service_type == HOMEKIT_TYPE:
+        if service_type in HOMEKIT_TYPES:
             discovery_was_forwarded = handle_homekit(hass, homekit_models, info)
             # Continue on here as homekit_controller
             # still needs to get updates on devices
@@ -294,7 +299,9 @@ async def _async_start_zeroconf_browser(hass, zeroconf):
         else:
             uppercase_mac = None
 
-        for entry in zeroconf_types[service_type]:
+        # Not all homekit types are currently used for discovery
+        # so not all service type exist in zeroconf_types
+        for entry in zeroconf_types.get(service_type, []):
             if len(entry) > 1:
                 if (
                     uppercase_mac is not None
diff --git a/tests/components/zeroconf/test_init.py b/tests/components/zeroconf/test_init.py
index 51bdf269bf2..cc34a511573 100644
--- a/tests/components/zeroconf/test_init.py
+++ b/tests/components/zeroconf/test_init.py
@@ -31,9 +31,11 @@ HOMEKIT_STATUS_UNPAIRED = b"1"
 HOMEKIT_STATUS_PAIRED = b"0"
 
 
-def service_update_mock(zeroconf, services, handlers):
+def service_update_mock(zeroconf, services, handlers, *, limit_service=None):
     """Call service update handler."""
     for service in services:
+        if limit_service is not None and service != limit_service:
+            continue
         handlers[0](zeroconf, service, f"name.{service}", ServiceStateChange.Added)
 
 
@@ -307,12 +309,16 @@ async def test_homekit_match_partial_space(hass, mock_zeroconf):
     """Test configured options for a device are loaded via config entry."""
     with patch.dict(
         zc_gen.ZEROCONF,
-        {zeroconf.HOMEKIT_TYPE: [{"domain": "homekit_controller"}]},
+        {"_hap._tcp.local.": [{"domain": "homekit_controller"}]},
         clear=True,
     ), patch.object(
         hass.config_entries.flow, "async_init"
     ) as mock_config_flow, patch.object(
-        zeroconf, "HaServiceBrowser", side_effect=service_update_mock
+        zeroconf,
+        "HaServiceBrowser",
+        side_effect=lambda *args, **kwargs: service_update_mock(
+            *args, **kwargs, limit_service="_hap._tcp.local."
+        ),
     ) as mock_service_browser:
         mock_zeroconf.get_service_info.side_effect = get_homekit_info_mock(
             "LIFX bulb", HOMEKIT_STATUS_UNPAIRED
@@ -330,12 +336,16 @@ async def test_homekit_match_partial_dash(hass, mock_zeroconf):
     """Test configured options for a device are loaded via config entry."""
     with patch.dict(
         zc_gen.ZEROCONF,
-        {zeroconf.HOMEKIT_TYPE: [{"domain": "homekit_controller"}]},
+        {"_hap._udp.local.": [{"domain": "homekit_controller"}]},
         clear=True,
     ), patch.object(
         hass.config_entries.flow, "async_init"
     ) as mock_config_flow, patch.object(
-        zeroconf, "HaServiceBrowser", side_effect=service_update_mock
+        zeroconf,
+        "HaServiceBrowser",
+        side_effect=lambda *args, **kwargs: service_update_mock(
+            *args, **kwargs, limit_service="_hap._udp.local."
+        ),
     ) as mock_service_browser:
         mock_zeroconf.get_service_info.side_effect = get_homekit_info_mock(
             "Rachio-fa46ba", HOMEKIT_STATUS_UNPAIRED
@@ -353,12 +363,16 @@ async def test_homekit_match_full(hass, mock_zeroconf):
     """Test configured options for a device are loaded via config entry."""
     with patch.dict(
         zc_gen.ZEROCONF,
-        {zeroconf.HOMEKIT_TYPE: [{"domain": "homekit_controller"}]},
+        {"_hap._udp.local.": [{"domain": "homekit_controller"}]},
         clear=True,
     ), patch.object(
         hass.config_entries.flow, "async_init"
     ) as mock_config_flow, patch.object(
-        zeroconf, "HaServiceBrowser", side_effect=service_update_mock
+        zeroconf,
+        "HaServiceBrowser",
+        side_effect=lambda *args, **kwargs: service_update_mock(
+            *args, **kwargs, limit_service="_hap._udp.local."
+        ),
     ) as mock_service_browser:
         mock_zeroconf.get_service_info.side_effect = get_homekit_info_mock(
             "BSB002", HOMEKIT_STATUS_UNPAIRED
@@ -376,12 +390,16 @@ async def test_homekit_already_paired(hass, mock_zeroconf):
     """Test that an already paired device is sent to homekit_controller."""
     with patch.dict(
         zc_gen.ZEROCONF,
-        {zeroconf.HOMEKIT_TYPE: [{"domain": "homekit_controller"}]},
+        {"_hap._tcp.local.": [{"domain": "homekit_controller"}]},
         clear=True,
     ), patch.object(
         hass.config_entries.flow, "async_init"
     ) as mock_config_flow, patch.object(
-        zeroconf, "HaServiceBrowser", side_effect=service_update_mock
+        zeroconf,
+        "HaServiceBrowser",
+        side_effect=lambda *args, **kwargs: service_update_mock(
+            *args, **kwargs, limit_service="_hap._tcp.local."
+        ),
     ) as mock_service_browser:
         mock_zeroconf.get_service_info.side_effect = get_homekit_info_mock(
             "tado", HOMEKIT_STATUS_PAIRED
@@ -400,12 +418,16 @@ async def test_homekit_invalid_paring_status(hass, mock_zeroconf):
     """Test that missing paring data is not sent to homekit_controller."""
     with patch.dict(
         zc_gen.ZEROCONF,
-        {zeroconf.HOMEKIT_TYPE: [{"domain": "homekit_controller"}]},
+        {"_hap._tcp.local.": [{"domain": "homekit_controller"}]},
         clear=True,
     ), patch.object(
         hass.config_entries.flow, "async_init"
     ) as mock_config_flow, patch.object(
-        zeroconf, "HaServiceBrowser", side_effect=service_update_mock
+        zeroconf,
+        "HaServiceBrowser",
+        side_effect=lambda *args, **kwargs: service_update_mock(
+            *args, **kwargs, limit_service="_hap._tcp.local."
+        ),
     ) as mock_service_browser:
         mock_zeroconf.get_service_info.side_effect = get_homekit_info_mock(
             "tado", b"invalid"
@@ -423,7 +445,7 @@ async def test_homekit_not_paired(hass, mock_zeroconf):
     """Test that an not paired device is sent to homekit_controller."""
     with patch.dict(
         zc_gen.ZEROCONF,
-        {zeroconf.HOMEKIT_TYPE: [{"domain": "homekit_controller"}]},
+        {"_hap._tcp.local.": [{"domain": "homekit_controller"}]},
         clear=True,
     ), patch.object(
         hass.config_entries.flow, "async_init"