diff --git a/esphome/components/esp32_touch/esp32_touch.cpp b/esphome/components/esp32_touch/esp32_touch.cpp
index 8951b1a030..ff5128f884 100644
--- a/esphome/components/esp32_touch/esp32_touch.cpp
+++ b/esphome/components/esp32_touch/esp32_touch.cpp
@@ -294,7 +294,7 @@ uint32_t ESP32TouchComponent::component_touch_pad_read(touch_pad_t tp) {
 void ESP32TouchComponent::loop() {
   const uint32_t now = App.get_loop_component_start_time();
   bool should_print = this->setup_mode_ && now - this->setup_mode_last_log_print_ > 250;
-  if (should_print) {
+  if (should_print && this->current_child_ == this->children_.size() - 1) {
     // Avoid spamming logs
     this->setup_mode_last_log_print_ = now;
   }