diff --git a/esphome/components/gps/__init__.py b/esphome/components/gps/__init__.py
index 51288ccc30..88e6f0fd9b 100644
--- a/esphome/components/gps/__init__.py
+++ b/esphome/components/gps/__init__.py
@@ -25,6 +25,7 @@ GPS = gps_ns.class_("GPS", cg.Component, uart.UARTDevice)
 GPSListener = gps_ns.class_("GPSListener")
 
 CONF_GPS_ID = "gps_id"
+CONF_HDOP = "hdop"
 MULTI_CONF = True
 CONFIG_SCHEMA = cv.All(
     cv.Schema(
@@ -40,7 +41,7 @@ CONFIG_SCHEMA = cv.All(
             ),
             cv.Optional(CONF_SPEED): sensor.sensor_schema(
                 unit_of_measurement=UNIT_KILOMETER_PER_HOUR,
-                accuracy_decimals=6,
+                accuracy_decimals=3,
             ),
             cv.Optional(CONF_COURSE): sensor.sensor_schema(
                 unit_of_measurement=UNIT_DEGREES,
@@ -48,12 +49,16 @@ CONFIG_SCHEMA = cv.All(
             ),
             cv.Optional(CONF_ALTITUDE): sensor.sensor_schema(
                 unit_of_measurement=UNIT_METER,
-                accuracy_decimals=1,
+                accuracy_decimals=2,
             ),
             cv.Optional(CONF_SATELLITES): sensor.sensor_schema(
                 accuracy_decimals=0,
                 state_class=STATE_CLASS_MEASUREMENT,
             ),
+            cv.Optional(CONF_HDOP): sensor.sensor_schema(
+                accuracy_decimals=3,
+                state_class=STATE_CLASS_MEASUREMENT,
+            ),
         }
     )
     .extend(cv.polling_component_schema("20s"))
@@ -92,5 +97,9 @@ async def to_code(config):
         sens = await sensor.new_sensor(config[CONF_SATELLITES])
         cg.add(var.set_satellites_sensor(sens))
 
+    if hdop_config := config.get(CONF_HDOP):
+        sens = await sensor.new_sensor(hdop_config)
+        cg.add(var.set_hdop_sensor(sens))
+
     # https://platformio.org/lib/show/1655/TinyGPSPlus
     cg.add_library("mikalhart/TinyGPSPlus", "1.0.2")
diff --git a/esphome/components/gps/gps.cpp b/esphome/components/gps/gps.cpp
index 8c924d629c..e54afdb07e 100644
--- a/esphome/components/gps/gps.cpp
+++ b/esphome/components/gps/gps.cpp
@@ -28,6 +28,9 @@ void GPS::update() {
 
   if (this->satellites_sensor_ != nullptr)
     this->satellites_sensor_->publish_state(this->satellites_);
+
+  if (this->hdop_sensor_ != nullptr)
+    this->hdop_sensor_->publish_state(this->hdop_);
 }
 
 void GPS::loop() {
@@ -44,23 +47,23 @@ void GPS::loop() {
 
       if (tiny_gps_.speed.isUpdated()) {
         this->speed_ = tiny_gps_.speed.kmph();
-        ESP_LOGD(TAG, "Speed:");
-        ESP_LOGD(TAG, "  %f km/h", this->speed_);
+        ESP_LOGD(TAG, "Speed: %.3f km/h", this->speed_);
       }
       if (tiny_gps_.course.isUpdated()) {
         this->course_ = tiny_gps_.course.deg();
-        ESP_LOGD(TAG, "Course:");
-        ESP_LOGD(TAG, "  %f °", this->course_);
+        ESP_LOGD(TAG, "Course: %.2f °", this->course_);
       }
       if (tiny_gps_.altitude.isUpdated()) {
         this->altitude_ = tiny_gps_.altitude.meters();
-        ESP_LOGD(TAG, "Altitude:");
-        ESP_LOGD(TAG, "  %f m", this->altitude_);
+        ESP_LOGD(TAG, "Altitude: %.2f m", this->altitude_);
       }
       if (tiny_gps_.satellites.isUpdated()) {
         this->satellites_ = tiny_gps_.satellites.value();
-        ESP_LOGD(TAG, "Satellites:");
-        ESP_LOGD(TAG, "  %d", this->satellites_);
+        ESP_LOGD(TAG, "Satellites: %d", this->satellites_);
+      }
+      if (tiny_gps_.hdop.isUpdated()) {
+        this->hdop_ = tiny_gps_.hdop.hdop();
+        ESP_LOGD(TAG, "HDOP: %.3f", this->hdop_);
       }
 
       for (auto *listener : this->listeners_)
diff --git a/esphome/components/gps/gps.h b/esphome/components/gps/gps.h
index 0626fb0b0e..a400820738 100644
--- a/esphome/components/gps/gps.h
+++ b/esphome/components/gps/gps.h
@@ -33,6 +33,7 @@ class GPS : public PollingComponent, public uart::UARTDevice {
   void set_course_sensor(sensor::Sensor *course_sensor) { course_sensor_ = course_sensor; }
   void set_altitude_sensor(sensor::Sensor *altitude_sensor) { altitude_sensor_ = altitude_sensor; }
   void set_satellites_sensor(sensor::Sensor *satellites_sensor) { satellites_sensor_ = satellites_sensor; }
+  void set_hdop_sensor(sensor::Sensor *hdop_sensor) { hdop_sensor_ = hdop_sensor; }
 
   void register_listener(GPSListener *listener) {
     listener->parent_ = this;
@@ -46,12 +47,13 @@ class GPS : public PollingComponent, public uart::UARTDevice {
   TinyGPSPlus &get_tiny_gps() { return this->tiny_gps_; }
 
  protected:
-  float latitude_ = -1;
-  float longitude_ = -1;
-  float speed_ = -1;
-  float course_ = -1;
-  float altitude_ = -1;
-  int satellites_ = -1;
+  float latitude_ = NAN;
+  float longitude_ = NAN;
+  float speed_ = NAN;
+  float course_ = NAN;
+  float altitude_ = NAN;
+  int satellites_ = 0;
+  double hdop_ = NAN;
 
   sensor::Sensor *latitude_sensor_{nullptr};
   sensor::Sensor *longitude_sensor_{nullptr};
@@ -59,6 +61,7 @@ class GPS : public PollingComponent, public uart::UARTDevice {
   sensor::Sensor *course_sensor_{nullptr};
   sensor::Sensor *altitude_sensor_{nullptr};
   sensor::Sensor *satellites_sensor_{nullptr};
+  sensor::Sensor *hdop_sensor_{nullptr};
 
   bool has_time_{false};
   TinyGPSPlus tiny_gps_;