diff --git a/esphome/components/esp32_camera/__init__.py b/esphome/components/esp32_camera/__init__.py
index e55c54f097..b4038c1841 100644
--- a/esphome/components/esp32_camera/__init__.py
+++ b/esphome/components/esp32_camera/__init__.py
@@ -296,7 +296,7 @@ async def to_code(config):
         add_idf_component(
             name="esp32-camera",
             repo="https://github.com/espressif/esp32-camera.git",
-            ref="v2.0.9",
+            ref="v2.0.15",
         )
 
     for conf in config.get(CONF_ON_STREAM_START, []):
diff --git a/esphome/components/esp32_camera/esp32_camera.cpp b/esphome/components/esp32_camera/esp32_camera.cpp
index 60accba747..cfcf7869d4 100644
--- a/esphome/components/esp32_camera/esp32_camera.cpp
+++ b/esphome/components/esp32_camera/esp32_camera.cpp
@@ -55,11 +55,7 @@ void ESP32Camera::dump_config() {
   ESP_LOGCONFIG(TAG, "  HREF Pin: %d", conf.pin_href);
   ESP_LOGCONFIG(TAG, "  Pixel Clock Pin: %d", conf.pin_pclk);
   ESP_LOGCONFIG(TAG, "  External Clock: Pin:%d Frequency:%u", conf.pin_xclk, conf.xclk_freq_hz);
-#ifdef USE_ESP_IDF  // Temporary until the espressif/esp32-camera library is updated
-  ESP_LOGCONFIG(TAG, "  I2C Pins: SDA:%d SCL:%d", conf.pin_sscb_sda, conf.pin_sscb_scl);
-#else
   ESP_LOGCONFIG(TAG, "  I2C Pins: SDA:%d SCL:%d", conf.pin_sccb_sda, conf.pin_sccb_scl);
-#endif
   ESP_LOGCONFIG(TAG, "  Reset Pin: %d", conf.pin_reset);
   switch (this->config_.frame_size) {
     case FRAMESIZE_QQVGA:
@@ -239,13 +235,8 @@ void ESP32Camera::set_external_clock(uint8_t pin, uint32_t frequency) {
   this->config_.xclk_freq_hz = frequency;
 }
 void ESP32Camera::set_i2c_pins(uint8_t sda, uint8_t scl) {
-#ifdef USE_ESP_IDF  // Temporary until the espressif/esp32-camera library is updated
-  this->config_.pin_sscb_sda = sda;
-  this->config_.pin_sscb_scl = scl;
-#else
   this->config_.pin_sccb_sda = sda;
   this->config_.pin_sccb_scl = scl;
-#endif
 }
 void ESP32Camera::set_reset_pin(uint8_t pin) { this->config_.pin_reset = pin; }
 void ESP32Camera::set_power_down_pin(uint8_t pin) { this->config_.pin_pwdn = pin; }
diff --git a/esphome/idf_component.yml b/esphome/idf_component.yml
index c273cae07e..8460de5638 100644
--- a/esphome/idf_component.yml
+++ b/esphome/idf_component.yml
@@ -4,7 +4,7 @@ dependencies:
     version: v1.3.1
   esp32_camera:
     git: https://github.com/espressif/esp32-camera.git
-    version: v2.0.9
+    version: v2.0.15
   mdns:
     git: https://github.com/espressif/esp-protocols.git
     version: mdns-v1.8.2