diff --git a/esphome/components/sensor/__init__.py b/esphome/components/sensor/__init__.py
index 20c6911d28..5d70785389 100644
--- a/esphome/components/sensor/__init__.py
+++ b/esphome/components/sensor/__init__.py
@@ -256,6 +256,7 @@ OffsetFilter = sensor_ns.class_("OffsetFilter", Filter)
 MultiplyFilter = sensor_ns.class_("MultiplyFilter", Filter)
 FilterOutValueFilter = sensor_ns.class_("FilterOutValueFilter", Filter)
 ThrottleFilter = sensor_ns.class_("ThrottleFilter", Filter)
+ThrottleWithPriorityFilter = sensor_ns.class_("ThrottleWithPriorityFilter", Filter)
 TimeoutFilter = sensor_ns.class_("TimeoutFilter", Filter, cg.Component)
 DebounceFilter = sensor_ns.class_("DebounceFilter", Filter, cg.Component)
 HeartbeatFilter = sensor_ns.class_("HeartbeatFilter", Filter, cg.Component)
@@ -595,6 +596,25 @@ async def throttle_filter_to_code(config, filter_id):
     return cg.new_Pvariable(filter_id, config)
 
 
+TIMEOUT_WITH_PRIORITY_SCHEMA = cv.maybe_simple_value(
+    {
+        cv.Required(CONF_TIMEOUT): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_VALUE, default="nan"): cv.ensure_list(cv.float_),
+    },
+    key=CONF_TIMEOUT,
+)
+
+
+@FILTER_REGISTRY.register(
+    "throttle_with_priority",
+    ThrottleWithPriorityFilter,
+    TIMEOUT_WITH_PRIORITY_SCHEMA,
+)
+async def throttle_with_priority_filter_to_code(config, filter_id):
+    template_ = [await cg.templatable(x, [], float) for x in config[CONF_VALUE]]
+    return cg.new_Pvariable(filter_id, config[CONF_TIMEOUT], template_)
+
+
 @FILTER_REGISTRY.register(
     "heartbeat", HeartbeatFilter, cv.positive_time_period_milliseconds
 )
diff --git a/esphome/components/sensor/filter.cpp b/esphome/components/sensor/filter.cpp
index 2fd56b7c8f..39b507f960 100644
--- a/esphome/components/sensor/filter.cpp
+++ b/esphome/components/sensor/filter.cpp
@@ -1,5 +1,6 @@
 #include "filter.h"
 #include <cmath>
+#include "esphome/core/application.h"
 #include "esphome/core/hal.h"
 #include "esphome/core/log.h"
 #include "sensor.h"
@@ -332,6 +333,40 @@ optional<float> ThrottleFilter::new_value(float value) {
   return {};
 }
 
+// ThrottleWithPriorityFilter
+ThrottleWithPriorityFilter::ThrottleWithPriorityFilter(uint32_t min_time_between_inputs,
+                                                       std::vector<TemplatableValue<float>> prioritized_values)
+    : min_time_between_inputs_(min_time_between_inputs), prioritized_values_(std::move(prioritized_values)) {}
+
+optional<float> ThrottleWithPriorityFilter::new_value(float value) {
+  bool is_prioritized_value = false;
+  int8_t accuracy = this->parent_->get_accuracy_decimals();
+  float accuracy_mult = powf(10.0f, accuracy);
+  const uint32_t now = App.get_loop_component_start_time();
+  // First, determine if the new value is one of the prioritized values
+  for (auto prioritized_value : this->prioritized_values_) {
+    if (std::isnan(prioritized_value.value())) {
+      if (std::isnan(value)) {
+        is_prioritized_value = true;
+        break;
+      }
+      continue;
+    }
+    float rounded_prioritized_value = roundf(accuracy_mult * prioritized_value.value());
+    float rounded_value = roundf(accuracy_mult * value);
+    if (rounded_prioritized_value == rounded_value) {
+      is_prioritized_value = true;
+      break;
+    }
+  }
+  // Finally, determine if the new value should be throttled and pass it through if not
+  if (this->last_input_ == 0 || now - this->last_input_ >= min_time_between_inputs_ || is_prioritized_value) {
+    this->last_input_ = now;
+    return value;
+  }
+  return {};
+}
+
 // DeltaFilter
 DeltaFilter::DeltaFilter(float delta, bool percentage_mode)
     : delta_(delta), current_delta_(delta), percentage_mode_(percentage_mode), last_value_(NAN) {}
diff --git a/esphome/components/sensor/filter.h b/esphome/components/sensor/filter.h
index 94fec8208b..8e2c6fef08 100644
--- a/esphome/components/sensor/filter.h
+++ b/esphome/components/sensor/filter.h
@@ -314,6 +314,20 @@ class ThrottleFilter : public Filter {
   uint32_t min_time_between_inputs_;
 };
 
+/// Same as 'throttle' but will immediately publish values contained in `value_to_prioritize`.
+class ThrottleWithPriorityFilter : public Filter {
+ public:
+  explicit ThrottleWithPriorityFilter(uint32_t min_time_between_inputs,
+                                      std::vector<TemplatableValue<float>> prioritized_values);
+
+  optional<float> new_value(float value) override;
+
+ protected:
+  uint32_t last_input_{0};
+  uint32_t min_time_between_inputs_;
+  std::vector<TemplatableValue<float>> prioritized_values_;
+};
+
 class TimeoutFilter : public Filter, public Component {
  public:
   explicit TimeoutFilter(uint32_t time_period, TemplatableValue<float> new_value);