diff --git a/esphome/components/esp32_touch/esp32_touch_common.cpp b/esphome/components/esp32_touch/esp32_touch_common.cpp
index a795f86e66..fd2cdfcbad 100644
--- a/esphome/components/esp32_touch/esp32_touch_common.cpp
+++ b/esphome/components/esp32_touch/esp32_touch_common.cpp
@@ -153,14 +153,6 @@ void ESP32TouchComponent::calculate_release_timeout_() {
   this->release_check_interval_ms_ = this->release_timeout_ms_ / 4;
 }
 
-void ESP32TouchComponent::initialize_tracking_arrays_() {
-  // Initialize tracking arrays
-  for (size_t i = 0; i < TOUCH_PAD_MAX; i++) {
-    this->last_touch_time_[i] = 0;
-    this->initial_state_published_[i] = false;
-  }
-}
-
 }  // namespace esp32_touch
 }  // namespace esphome