diff --git a/esphome/components/servo/__init__.py b/esphome/components/servo/__init__.py
index 9b06159c13..76690dbcf3 100644
--- a/esphome/components/servo/__init__.py
+++ b/esphome/components/servo/__init__.py
@@ -4,13 +4,14 @@ from esphome import automation
 from esphome.automation import maybe_simple_id
 from esphome.components.output import FloatOutput
 from esphome.const import CONF_ID, CONF_IDLE_LEVEL, CONF_MAX_LEVEL, CONF_MIN_LEVEL, CONF_OUTPUT, \
-    CONF_LEVEL, CONF_RESTORE
+    CONF_LEVEL, CONF_RESTORE, CONF_TRANSITION_LENGTH
 
 servo_ns = cg.esphome_ns.namespace('servo')
 Servo = servo_ns.class_('Servo', cg.Component)
 ServoWriteAction = servo_ns.class_('ServoWriteAction', automation.Action)
 ServoDetachAction = servo_ns.class_('ServoDetachAction', automation.Action)
 
+CONF_AUTO_DETACH_TIME = 'auto_detach_time'
 MULTI_CONF = True
 CONFIG_SCHEMA = cv.Schema({
     cv.Required(CONF_ID): cv.declare_id(Servo),
@@ -19,6 +20,8 @@ CONFIG_SCHEMA = cv.Schema({
     cv.Optional(CONF_IDLE_LEVEL, default='7.5%'): cv.percentage,
     cv.Optional(CONF_MAX_LEVEL, default='12%'): cv.percentage,
     cv.Optional(CONF_RESTORE, default=False): cv.boolean,
+    cv.Optional(CONF_AUTO_DETACH_TIME, default='0s'): cv.positive_time_period_milliseconds,
+    cv.Optional(CONF_TRANSITION_LENGTH, default='0s'): cv.positive_time_period_milliseconds
 }).extend(cv.COMPONENT_SCHEMA)
 
 
@@ -32,6 +35,8 @@ def to_code(config):
     cg.add(var.set_idle_level(config[CONF_IDLE_LEVEL]))
     cg.add(var.set_max_level(config[CONF_MAX_LEVEL]))
     cg.add(var.set_restore(config[CONF_RESTORE]))
+    cg.add(var.set_auto_detach_time(config[CONF_AUTO_DETACH_TIME]))
+    cg.add(var.set_transition_length(config[CONF_TRANSITION_LENGTH]))
 
 
 @automation.register_action('servo.write', ServoWriteAction, cv.Schema({
diff --git a/esphome/components/servo/servo.cpp b/esphome/components/servo/servo.cpp
index 2fade280ee..5d2a9ee236 100644
--- a/esphome/components/servo/servo.cpp
+++ b/esphome/components/servo/servo.cpp
@@ -13,6 +13,64 @@ void Servo::dump_config() {
   ESP_LOGCONFIG(TAG, "  Idle Level: %.1f%%", this->idle_level_ * 100.0f);
   ESP_LOGCONFIG(TAG, "  Min Level: %.1f%%", this->min_level_ * 100.0f);
   ESP_LOGCONFIG(TAG, "  Max Level: %.1f%%", this->max_level_ * 100.0f);
+  ESP_LOGCONFIG(TAG, "  auto detach time: %d ms", this->auto_detach_time_);
+  ESP_LOGCONFIG(TAG, "  run duration: %d ms", this->transition_length_);
+}
+
+void Servo::loop() {
+  // check if auto_detach_time_ is set and servo reached target
+  if (this->auto_detach_time_ && this->state_ == STATE_TARGET_REACHED) {
+    if (millis() - this->start_millis_ > this->auto_detach_time_) {
+      this->detach();
+      this->start_millis_ = 0;
+      this->state_ = STATE_DETACHED;
+      ESP_LOGD(TAG, "Servo detached on auto_detach_time");
+    }
+  }
+  if (this->target_value_ != this->current_value_ && this->state_ == STATE_ATTACHED) {
+    if (this->transition_length_) {
+      float new_value;
+      float travel_diff = this->target_value_ - this->source_value_;
+      uint32_t target_runtime = target_runtime = abs((int) ((travel_diff) * this->transition_length_ * 1.0f / 2.0f));
+      uint32_t current_runtime = millis() - this->start_millis_;
+      float percentage_run = current_runtime * 1.0f / target_runtime * 1.0f;
+      if (percentage_run > 1.0f) {
+        percentage_run = 1.0f;
+      }
+      new_value = this->target_value_ - (1.0f - percentage_run) * (this->target_value_ - this->source_value_);
+      this->internal_write(new_value);
+    } else {
+      this->internal_write(this->target_value_);
+    }
+  }
+  if (this->target_value_ == this->current_value_ && this->state_ == STATE_ATTACHED) {
+    this->state_ = STATE_TARGET_REACHED;
+    this->start_millis_ = millis();  // set current stamp for potential auto_detach_time_ check
+    ESP_LOGD(TAG, "Servo reached target");
+  }
+}
+
+void Servo::write(float value) {
+  value = clamp(value, -1.0f, 1.0f);
+  this->target_value_ = value;
+  this->source_value_ = this->current_value_;
+  this->state_ = STATE_ATTACHED;
+  this->start_millis_ = millis();
+  ESP_LOGD(TAG, "Servo new target: %f", value);
+}
+
+void Servo::internal_write(float value) {
+  value = clamp(value, -1.0f, 1.0f);
+  float level;
+  if (value < 0.0)
+    level = lerp(-value, this->idle_level_, this->min_level_);
+  else
+    level = lerp(value, this->idle_level_, this->max_level_);
+  this->output_->set_level(level);
+  if (this->target_value_ == this->current_value_) {
+    this->save_level_(level);
+  }
+  this->current_value_ = value;
 }
 
 }  // namespace servo
diff --git a/esphome/components/servo/servo.h b/esphome/components/servo/servo.h
index b864efc877..937706d44d 100644
--- a/esphome/components/servo/servo.h
+++ b/esphome/components/servo/servo.h
@@ -14,18 +14,9 @@ extern uint32_t global_servo_id;
 class Servo : public Component {
  public:
   void set_output(output::FloatOutput *output) { output_ = output; }
-  void write(float value) {
-    value = clamp(value, -1.0f, 1.0f);
-
-    float level;
-    if (value < 0.0)
-      level = lerp(-value, this->idle_level_, this->min_level_);
-    else
-      level = lerp(value, this->idle_level_, this->max_level_);
-
-    this->output_->set_level(level);
-    this->save_level_(level);
-  }
+  void loop() override;
+  void write(float value);
+  void internal_write(float value);
   void detach() {
     this->output_->set_level(0.0f);
     this->save_level_(0.0f);
@@ -48,6 +39,8 @@ class Servo : public Component {
   void set_idle_level(float idle_level) { idle_level_ = idle_level; }
   void set_max_level(float max_level) { max_level_ = max_level; }
   void set_restore(bool restore) { restore_ = restore; }
+  void set_auto_detach_time(uint32_t auto_detach_time) { auto_detach_time_ = auto_detach_time; }
+  void set_transition_length(uint32_t transition_length) { transition_length_ = transition_length; }
 
  protected:
   void save_level_(float v) { this->rtc_.save(&v); }
@@ -57,7 +50,19 @@ class Servo : public Component {
   float idle_level_ = 0.0750f;
   float max_level_ = 0.1200f;
   bool restore_{false};
+  uint32_t auto_detach_time_ = 0;
+  uint32_t transition_length_ = 0;
   ESPPreferenceObject rtc_;
+  uint8_t state_;
+  float target_value_ = 0;
+  float source_value_ = 0;
+  float current_value_ = 0;
+  uint32_t start_millis_ = 0;
+  enum State {
+    STATE_ATTACHED = 0,
+    STATE_DETACHED = 1,
+    STATE_TARGET_REACHED = 2,
+  };
 };
 
 template<typename... Ts> class ServoWriteAction : public Action<Ts...> {