diff --git a/esphome/components/esp32/__init__.py b/esphome/components/esp32/__init__.py
index 6a0c74b680..d66369f789 100644
--- a/esphome/components/esp32/__init__.py
+++ b/esphome/components/esp32/__init__.py
@@ -273,6 +273,7 @@ SUPPORTED_PLATFORMIO_ESP_IDF_5X = [
 # pioarduino versions that don't require a release number
 # List based on https://github.com/pioarduino/esp-idf/releases
 SUPPORTED_PIOARDUINO_ESP_IDF_5X = [
+    cv.Version(5, 4, 1),
     cv.Version(5, 4, 0),
     cv.Version(5, 3, 2),
     cv.Version(5, 3, 1),