diff --git a/esphome/components/esp32/__init__.py b/esphome/components/esp32/__init__.py
index 0ae4ab3464..307766ff94 100644
--- a/esphome/components/esp32/__init__.py
+++ b/esphome/components/esp32/__init__.py
@@ -251,7 +251,7 @@ ARDUINO_PLATFORM_VERSION = cv.Version(5, 4, 0)
 # The default/recommended esp-idf framework version
 #  - https://github.com/espressif/esp-idf/releases
 #  - https://api.registry.platformio.org/v3/packages/platformio/tool/framework-espidf
-RECOMMENDED_ESP_IDF_FRAMEWORK_VERSION = cv.Version(5, 1, 5)
+RECOMMENDED_ESP_IDF_FRAMEWORK_VERSION = cv.Version(5, 1, 6)
 # The platformio/espressif32 version to use for esp-idf frameworks
 #  - https://github.com/platformio/platform-espressif32/releases
 #  - https://api.registry.platformio.org/v3/packages/platformio/platform/espressif32
@@ -282,6 +282,7 @@ SUPPORTED_PIOARDUINO_ESP_IDF_5X = [
     cv.Version(5, 3, 1),
     cv.Version(5, 3, 0),
     cv.Version(5, 1, 5),
+    cv.Version(5, 1, 6),
 ]
 
 
@@ -323,8 +324,8 @@ def _arduino_check_versions(value):
 def _esp_idf_check_versions(value):
     value = value.copy()
     lookups = {
-        "dev": (cv.Version(5, 1, 5), "https://github.com/espressif/esp-idf.git"),
-        "latest": (cv.Version(5, 1, 5), None),
+        "dev": (cv.Version(5, 1, 6), "https://github.com/espressif/esp-idf.git"),
+        "latest": (cv.Version(5, 1, 6), None),
         "recommended": (RECOMMENDED_ESP_IDF_FRAMEWORK_VERSION, None),
     }
 
diff --git a/esphome/core/defines.h b/esphome/core/defines.h
index 64de41f23a..d6c2bf25e6 100644
--- a/esphome/core/defines.h
+++ b/esphome/core/defines.h
@@ -148,7 +148,7 @@
 #endif
 
 #ifdef USE_ESP_IDF
-#define USE_ESP_IDF_VERSION_CODE VERSION_CODE(5, 1, 5)
+#define USE_ESP_IDF_VERSION_CODE VERSION_CODE(5, 1, 6)
 #endif
 
 #if defined(USE_ESP32_VARIANT_ESP32S2)
diff --git a/platformio.ini b/platformio.ini
index 88e7c3b331..656202e372 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -142,7 +142,7 @@ extra_scripts = post:esphome/components/esp32/post_build.py.script
 extends = common:idf
 platform = https://github.com/pioarduino/platform-espressif32/releases/download/51.03.06/platform-espressif32.zip
 platform_packages =
-    pioarduino/framework-espidf@https://github.com/pioarduino/esp-idf/releases/download/v5.1.5/esp-idf-v5.1.5.zip
+    pioarduino/framework-espidf@https://github.com/pioarduino/esp-idf/releases/download/v5.1.6/esp-idf-v5.1.6.zip
 
 framework = espidf
 lib_deps =