diff --git a/homeassistant/components/mqtt/__init__.py b/homeassistant/components/mqtt/__init__.py
index dfef057a7f9..f2d826412ce 100644
--- a/homeassistant/components/mqtt/__init__.py
+++ b/homeassistant/components/mqtt/__init__.py
@@ -197,6 +197,7 @@ PLATFORM_CONFIG_SCHEMA_BASE = vol.Schema(
         vol.Optional(Platform.FAN.value): cv.ensure_list,
         vol.Optional(Platform.LIGHT.value): cv.ensure_list,
         vol.Optional(Platform.LOCK.value): cv.ensure_list,
+        vol.Optional(Platform.VACUUM.value): cv.ensure_list,
     }
 )
 
diff --git a/homeassistant/components/mqtt/vacuum/__init__.py b/homeassistant/components/mqtt/vacuum/__init__.py
index 4898a7b3351..34205ab7780 100644
--- a/homeassistant/components/mqtt/vacuum/__init__.py
+++ b/homeassistant/components/mqtt/vacuum/__init__.py
@@ -1,6 +1,7 @@
 """Support for MQTT vacuums."""
 from __future__ import annotations
 
+import asyncio
 import functools
 
 import voluptuous as vol
@@ -11,16 +12,22 @@ from homeassistant.core import HomeAssistant
 from homeassistant.helpers.entity_platform import AddEntitiesCallback
 from homeassistant.helpers.typing import ConfigType, DiscoveryInfoType
 
-from ..mixins import async_setup_entry_helper, async_setup_platform_helper
+from ..mixins import (
+    async_get_platform_config_from_yaml,
+    async_setup_entry_helper,
+    async_setup_platform_helper,
+)
 from .schema import CONF_SCHEMA, LEGACY, MQTT_VACUUM_SCHEMA, STATE
 from .schema_legacy import (
     DISCOVERY_SCHEMA_LEGACY,
     PLATFORM_SCHEMA_LEGACY,
+    PLATFORM_SCHEMA_LEGACY_MODERN,
     async_setup_entity_legacy,
 )
 from .schema_state import (
     DISCOVERY_SCHEMA_STATE,
     PLATFORM_SCHEMA_STATE,
+    PLATFORM_SCHEMA_STATE_MODERN,
     async_setup_entity_state,
 )
 
@@ -31,20 +38,35 @@ def validate_mqtt_vacuum_discovery(value):
     return schemas[value[CONF_SCHEMA]](value)
 
 
+# Configuring MQTT Vacuums under the vacuum platform key is deprecated in HA Core 2022.6
 def validate_mqtt_vacuum(value):
-    """Validate MQTT vacuum schema."""
+    """Validate MQTT vacuum schema (deprecated)."""
     schemas = {LEGACY: PLATFORM_SCHEMA_LEGACY, STATE: PLATFORM_SCHEMA_STATE}
     return schemas[value[CONF_SCHEMA]](value)
 
 
+def validate_mqtt_vacuum_modern(value):
+    """Validate MQTT vacuum modern schema."""
+    schemas = {
+        LEGACY: PLATFORM_SCHEMA_LEGACY_MODERN,
+        STATE: PLATFORM_SCHEMA_STATE_MODERN,
+    }
+    return schemas[value[CONF_SCHEMA]](value)
+
+
 DISCOVERY_SCHEMA = vol.All(
     MQTT_VACUUM_SCHEMA.extend({}, extra=vol.ALLOW_EXTRA), validate_mqtt_vacuum_discovery
 )
 
+# Configuring MQTT Vacuums under the vacuum platform key is deprecated in HA Core 2022.6
 PLATFORM_SCHEMA = vol.All(
     MQTT_VACUUM_SCHEMA.extend({}, extra=vol.ALLOW_EXTRA), validate_mqtt_vacuum
 )
 
+PLATFORM_SCHEMA_MODERN = vol.All(
+    MQTT_VACUUM_SCHEMA.extend({}, extra=vol.ALLOW_EXTRA), validate_mqtt_vacuum_modern
+)
+
 
 async def async_setup_platform(
     hass: HomeAssistant,
@@ -53,6 +75,7 @@ async def async_setup_platform(
     discovery_info: DiscoveryInfoType | None = None,
 ) -> None:
     """Set up MQTT vacuum through configuration.yaml."""
+    # Deprecated in HA Core 2022.6
     await async_setup_platform_helper(
         hass, vacuum.DOMAIN, config, async_add_entities, _async_setup_entity
     )
@@ -63,7 +86,17 @@ async def async_setup_entry(
     config_entry: ConfigEntry,
     async_add_entities: AddEntitiesCallback,
 ) -> None:
-    """Set up MQTT vacuum dynamically through MQTT discovery."""
+    """Set up MQTT vacuum through configuration.yaml and dynamically through MQTT discovery."""
+    # load and initialize platform config from configuration.yaml
+    await asyncio.gather(
+        *(
+            _async_setup_entity(hass, async_add_entities, config, config_entry)
+            for config in await async_get_platform_config_from_yaml(
+                hass, vacuum.DOMAIN, PLATFORM_SCHEMA_MODERN
+            )
+        )
+    )
+    # setup for discovery
     setup = functools.partial(
         _async_setup_entity, hass, async_add_entities, config_entry=config_entry
     )
diff --git a/homeassistant/components/mqtt/vacuum/schema_legacy.py b/homeassistant/components/mqtt/vacuum/schema_legacy.py
index 41d0c9faf17..eb5e01b6251 100644
--- a/homeassistant/components/mqtt/vacuum/schema_legacy.py
+++ b/homeassistant/components/mqtt/vacuum/schema_legacy.py
@@ -5,6 +5,7 @@ import voluptuous as vol
 
 from homeassistant.components.vacuum import (
     ATTR_STATUS,
+    DOMAIN as VACUUM_DOMAIN,
     ENTITY_ID_FORMAT,
     VacuumEntity,
     VacuumEntityFeature,
@@ -18,7 +19,7 @@ from .. import MqttValueTemplate, subscription
 from ... import mqtt
 from ..const import CONF_COMMAND_TOPIC, CONF_ENCODING, CONF_QOS, CONF_RETAIN
 from ..debug_info import log_messages
-from ..mixins import MQTT_ENTITY_COMMON_SCHEMA, MqttEntity
+from ..mixins import MQTT_ENTITY_COMMON_SCHEMA, MqttEntity, warn_for_legacy_schema
 from .const import MQTT_VACUUM_ATTRIBUTES_BLOCKED
 from .schema import MQTT_VACUUM_SCHEMA, services_to_strings, strings_to_services
 
@@ -94,8 +95,8 @@ MQTT_LEGACY_VACUUM_ATTRIBUTES_BLOCKED = MQTT_VACUUM_ATTRIBUTES_BLOCKED | frozens
     {ATTR_STATUS}
 )
 
-PLATFORM_SCHEMA_LEGACY = (
-    mqtt.MQTT_BASE_PLATFORM_SCHEMA.extend(
+PLATFORM_SCHEMA_LEGACY_MODERN = (
+    mqtt.MQTT_BASE_SCHEMA.extend(
         {
             vol.Inclusive(CONF_BATTERY_LEVEL_TEMPLATE, "battery"): cv.template,
             vol.Inclusive(
@@ -147,7 +148,15 @@ PLATFORM_SCHEMA_LEGACY = (
     .extend(MQTT_VACUUM_SCHEMA.schema)
 )
 
-DISCOVERY_SCHEMA_LEGACY = PLATFORM_SCHEMA_LEGACY.extend({}, extra=vol.REMOVE_EXTRA)
+# Configuring MQTT Vacuums under the vacuum platform key is deprecated in HA Core 2022.6
+PLATFORM_SCHEMA_LEGACY = vol.All(
+    cv.PLATFORM_SCHEMA.extend(PLATFORM_SCHEMA_LEGACY_MODERN.schema),
+    warn_for_legacy_schema(VACUUM_DOMAIN),
+)
+
+DISCOVERY_SCHEMA_LEGACY = PLATFORM_SCHEMA_LEGACY_MODERN.extend(
+    {}, extra=vol.REMOVE_EXTRA
+)
 
 
 async def async_setup_entity_legacy(
diff --git a/homeassistant/components/mqtt/vacuum/schema_state.py b/homeassistant/components/mqtt/vacuum/schema_state.py
index 7a5424d7cbf..7aa7be07797 100644
--- a/homeassistant/components/mqtt/vacuum/schema_state.py
+++ b/homeassistant/components/mqtt/vacuum/schema_state.py
@@ -4,6 +4,7 @@ import json
 import voluptuous as vol
 
 from homeassistant.components.vacuum import (
+    DOMAIN as VACUUM_DOMAIN,
     ENTITY_ID_FORMAT,
     STATE_CLEANING,
     STATE_DOCKED,
@@ -31,7 +32,7 @@ from ..const import (
     CONF_STATE_TOPIC,
 )
 from ..debug_info import log_messages
-from ..mixins import MQTT_ENTITY_COMMON_SCHEMA, MqttEntity
+from ..mixins import MQTT_ENTITY_COMMON_SCHEMA, MqttEntity, warn_for_legacy_schema
 from .const import MQTT_VACUUM_ATTRIBUTES_BLOCKED
 from .schema import MQTT_VACUUM_SCHEMA, services_to_strings, strings_to_services
 
@@ -103,8 +104,8 @@ DEFAULT_PAYLOAD_LOCATE = "locate"
 DEFAULT_PAYLOAD_START = "start"
 DEFAULT_PAYLOAD_PAUSE = "pause"
 
-PLATFORM_SCHEMA_STATE = (
-    mqtt.MQTT_BASE_PLATFORM_SCHEMA.extend(
+PLATFORM_SCHEMA_STATE_MODERN = (
+    mqtt.MQTT_BASE_SCHEMA.extend(
         {
             vol.Optional(CONF_FAN_SPEED_LIST, default=[]): vol.All(
                 cv.ensure_list, [cv.string]
@@ -136,8 +137,13 @@ PLATFORM_SCHEMA_STATE = (
     .extend(MQTT_VACUUM_SCHEMA.schema)
 )
 
+# Configuring MQTT Vacuums under the vacuum platform key is deprecated in HA Core 2022.6
+PLATFORM_SCHEMA_STATE = vol.All(
+    cv.PLATFORM_SCHEMA.extend(PLATFORM_SCHEMA_STATE_MODERN.schema),
+    warn_for_legacy_schema(VACUUM_DOMAIN),
+)
 
-DISCOVERY_SCHEMA_STATE = PLATFORM_SCHEMA_STATE.extend({}, extra=vol.REMOVE_EXTRA)
+DISCOVERY_SCHEMA_STATE = PLATFORM_SCHEMA_STATE_MODERN.extend({}, extra=vol.REMOVE_EXTRA)
 
 
 async def async_setup_entity_state(
diff --git a/tests/components/mqtt/test_legacy_vacuum.py b/tests/components/mqtt/test_legacy_vacuum.py
index 992275105c5..f451079e0f0 100644
--- a/tests/components/mqtt/test_legacy_vacuum.py
+++ b/tests/components/mqtt/test_legacy_vacuum.py
@@ -56,6 +56,7 @@ from .test_common import (
     help_test_setting_attribute_via_mqtt_json_message,
     help_test_setting_attribute_with_template,
     help_test_setting_blocked_attribute_via_mqtt_json_message,
+    help_test_setup_manual_entity_from_yaml,
     help_test_unique_id,
     help_test_update_with_json_attrs_bad_JSON,
     help_test_update_with_json_attrs_not_dict,
@@ -901,3 +902,15 @@ async def test_encoding_subscribable_topics(
         attribute_value,
         skip_raw_test=True,
     )
+
+
+async def test_setup_manual_entity_from_yaml(hass, caplog, tmp_path):
+    """Test setup manual configured MQTT entity."""
+    platform = vacuum.DOMAIN
+    config = deepcopy(DEFAULT_CONFIG)
+    config["name"] = "test"
+    del config["platform"]
+    await help_test_setup_manual_entity_from_yaml(
+        hass, caplog, tmp_path, platform, config
+    )
+    assert hass.states.get(f"{platform}.test") is not None
diff --git a/tests/components/mqtt/test_state_vacuum.py b/tests/components/mqtt/test_state_vacuum.py
index 8691aa73323..3f752f1b528 100644
--- a/tests/components/mqtt/test_state_vacuum.py
+++ b/tests/components/mqtt/test_state_vacuum.py
@@ -58,6 +58,7 @@ from .test_common import (
     help_test_setting_attribute_via_mqtt_json_message,
     help_test_setting_attribute_with_template,
     help_test_setting_blocked_attribute_via_mqtt_json_message,
+    help_test_setup_manual_entity_from_yaml,
     help_test_unique_id,
     help_test_update_with_json_attrs_bad_JSON,
     help_test_update_with_json_attrs_not_dict,
@@ -648,3 +649,15 @@ async def test_encoding_subscribable_topics(
         attribute_value,
         skip_raw_test=True,
     )
+
+
+async def test_setup_manual_entity_from_yaml(hass, caplog, tmp_path):
+    """Test setup manual configured MQTT entity."""
+    platform = vacuum.DOMAIN
+    config = deepcopy(DEFAULT_CONFIG)
+    config["name"] = "test"
+    del config["platform"]
+    await help_test_setup_manual_entity_from_yaml(
+        hass, caplog, tmp_path, platform, config
+    )
+    assert hass.states.get(f"{platform}.test") is not None