diff --git a/homeassistant/components/camera/__init__.py b/homeassistant/components/camera/__init__.py
index 14cd64df920..9724e8e1e70 100644
--- a/homeassistant/components/camera/__init__.py
+++ b/homeassistant/components/camera/__init__.py
@@ -165,10 +165,7 @@ async def _async_get_image(
                     width=width, height=height
                 )
             else:
-                _LOGGER.warning(
-                    "The camera entity %s does not support requesting width and height, please open an issue with the integration author",
-                    camera.entity_id,
-                )
+                camera.async_warn_old_async_camera_image_signature()
                 image_bytes = await camera.async_camera_image()
 
             if image_bytes:
@@ -381,6 +378,7 @@ class Camera(Entity):
         self.stream_options: dict[str, str] = {}
         self.content_type: str = DEFAULT_CONTENT_TYPE
         self.access_tokens: collections.deque = collections.deque([], 2)
+        self._warned_old_signature = False
         self.async_update_token()
 
     @property
@@ -455,11 +453,20 @@ class Camera(Entity):
             return await self.hass.async_add_executor_job(
                 partial(self.camera_image, width=width, height=height)
             )
+        self.async_warn_old_async_camera_image_signature()
+        return await self.hass.async_add_executor_job(self.camera_image)
+
+    # Remove in 2022.1 after all custom components have had a chance to change their signature
+    @callback
+    def async_warn_old_async_camera_image_signature(self) -> None:
+        """Warn once when calling async_camera_image with the function old signature."""
+        if self._warned_old_signature:
+            return
         _LOGGER.warning(
             "The camera entity %s does not support requesting width and height, please open an issue with the integration author",
             self.entity_id,
         )
-        return await self.hass.async_add_executor_job(self.camera_image)
+        self._warned_old_signature = True
 
     async def handle_async_still_stream(
         self, request: web.Request, interval: float
diff --git a/tests/components/camera/test_init.py b/tests/components/camera/test_init.py
index bb3f76e0d1b..df4b64e4310 100644
--- a/tests/components/camera/test_init.py
+++ b/tests/components/camera/test_init.py
@@ -77,6 +77,28 @@ async def test_get_image_from_camera(hass, image_mock_url):
     assert image.content == b"Test"
 
 
+async def test_legacy_async_get_image_signature_warns_only_once(
+    hass, image_mock_url, caplog
+):
+    """Test that we only warn once when we encounter a legacy async_get_image function signature."""
+
+    async def _legacy_async_camera_image(self):
+        return b"Image"
+
+    with patch(
+        "homeassistant.components.demo.camera.DemoCamera.async_camera_image",
+        new=_legacy_async_camera_image,
+    ):
+        image = await camera.async_get_image(hass, "camera.demo_camera")
+        assert image.content == b"Image"
+        assert "does not support requesting width and height" in caplog.text
+        caplog.clear()
+
+        image = await camera.async_get_image(hass, "camera.demo_camera")
+        assert image.content == b"Image"
+        assert "does not support requesting width and height" not in caplog.text
+
+
 async def test_get_image_from_camera_with_width_height(hass, image_mock_url):
     """Grab an image from camera entity with width and height."""