diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index c5906779f1..a1fb727dd0 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -522,6 +522,7 @@ optional<ESPBLEiBeacon> ESPBLEiBeacon::from_manufacturer_data(const ServiceData
 }
 
 void ESPBTDevice::parse_scan_rst(const BLEScanResult &scan_result) {
+  this->scan_result_ = &scan_result;
   for (uint8_t i = 0; i < ESP_BD_ADDR_LEN; i++)
     this->address_[i] = scan_result.bda[i];
   this->address_type_ = static_cast<esp_ble_addr_type_t>(scan_result.ble_addr_type);
diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
index 16a100fb47..892f76f49c 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
@@ -85,6 +85,9 @@ class ESPBTDevice {
 
   const std::vector<ServiceData> &get_service_datas() const { return service_datas_; }
 
+  // Exposed through a function for use in lambdas
+  const BLEScanResult &get_scan_result() const { return *scan_result_; }
+
   bool resolve_irk(const uint8_t *irk) const;
 
   optional<ESPBLEiBeacon> get_ibeacon() const {
@@ -111,6 +114,7 @@ class ESPBTDevice {
   std::vector<ESPBTUUID> service_uuids_{};
   std::vector<ServiceData> manufacturer_datas_{};
   std::vector<ServiceData> service_datas_{};
+  const BLEScanResult *scan_result_{nullptr};
 };
 
 class ESP32BLETracker;