diff --git a/esphome/components/debug/debug_component.cpp b/esphome/components/debug/debug_component.cpp
index b856733121..40eb20fa6e 100644
--- a/esphome/components/debug/debug_component.cpp
+++ b/esphome/components/debug/debug_component.cpp
@@ -4,20 +4,23 @@
 #include "esphome/core/defines.h"
 #include "esphome/core/version.h"
 
+#ifdef USE_ESP_IDF
+#include <esp_heap_caps.h>
+#include <esp_system.h>
+#endif
+
 #ifdef USE_ESP32
+#if ESP_IDF_VERSION_MAJOR >= 4
+#include <esp32/rom/rtc.h>
+#else
 #include <rom/rtc.h>
-#include <esp_idf_version.h>
+#endif
 #endif
 
 #ifdef USE_ARDUINO
 #include <Esp.h>
 #endif
 
-#ifdef USE_ESP_IDF
-#include <esp_heap_caps.h>
-#include <esp_system.h>
-#endif
-
 namespace esphome {
 namespace debug {