diff --git a/esphome/components/esp32_touch/esp32_touch.h b/esphome/components/esp32_touch/esp32_touch.h
index 5a91b1c750..fb1973e26f 100644
--- a/esphome/components/esp32_touch/esp32_touch.h
+++ b/esphome/components/esp32_touch/esp32_touch.h
@@ -171,8 +171,8 @@ class ESP32TouchComponent : public Component {
   // based on the filter configuration
   uint32_t read_touch_value(touch_pad_t pad) const;
 
-  // Helper to update touch state with a known state
-  void update_touch_state_(ESP32TouchBinarySensor *child, bool is_touched);
+  // Helper to update touch state with a known state and value
+  void update_touch_state_(ESP32TouchBinarySensor *child, bool is_touched, uint32_t value);
 
   // Helper to read touch value and update state for a given child
   bool check_and_update_touch_state_(ESP32TouchBinarySensor *child);
@@ -234,9 +234,13 @@ class ESP32TouchBinarySensor : public binary_sensor::BinarySensor {
   touch_pad_t get_touch_pad() const { return this->touch_pad_; }
   uint32_t get_threshold() const { return this->threshold_; }
   void set_threshold(uint32_t threshold) { this->threshold_ = threshold; }
-#ifdef USE_ESP32_VARIANT_ESP32
+
+  /// Get the raw touch measurement value.
+  /// @note Although this method may appear unused within the component, it is a public API
+  /// used by lambdas in user configurations for custom touch value processing.
+  /// @return The current raw touch sensor reading
   uint32_t get_value() const { return this->value_; }
-#endif
+
   uint32_t get_wakeup_threshold() const { return this->wakeup_threshold_; }
 
  protected:
@@ -245,9 +249,8 @@ class ESP32TouchBinarySensor : public binary_sensor::BinarySensor {
   touch_pad_t touch_pad_{TOUCH_PAD_MAX};
   uint32_t threshold_{0};
   uint32_t benchmark_{};
-#ifdef USE_ESP32_VARIANT_ESP32
+  /// Stores the last raw touch measurement value.
   uint32_t value_{0};
-#endif
   bool last_state_{false};
   const uint32_t wakeup_threshold_{0};
 
diff --git a/esphome/components/esp32_touch/esp32_touch_common.cpp b/esphome/components/esp32_touch/esp32_touch_common.cpp
index 2d93de077e..a0b1df38c1 100644
--- a/esphome/components/esp32_touch/esp32_touch_common.cpp
+++ b/esphome/components/esp32_touch/esp32_touch_common.cpp
@@ -100,6 +100,8 @@ void ESP32TouchComponent::process_setup_mode_logging_(uint32_t now) {
 #else
       // Read the value being used for touch detection
       uint32_t value = this->read_touch_value(child->get_touch_pad());
+      // Store the value for get_value() access in lambdas
+      child->value_ = value;
       ESP_LOGD(TAG, "Touch Pad '%s' (T%d): %d", child->get_name().c_str(), child->get_touch_pad(), value);
 #endif
     }
diff --git a/esphome/components/esp32_touch/esp32_touch_v2.cpp b/esphome/components/esp32_touch/esp32_touch_v2.cpp
index afd2655fd7..9662b009f6 100644
--- a/esphome/components/esp32_touch/esp32_touch_v2.cpp
+++ b/esphome/components/esp32_touch/esp32_touch_v2.cpp
@@ -10,8 +10,11 @@ namespace esp32_touch {
 
 static const char *const TAG = "esp32_touch";
 
-// Helper to update touch state with a known state
-void ESP32TouchComponent::update_touch_state_(ESP32TouchBinarySensor *child, bool is_touched) {
+// Helper to update touch state with a known state and value
+void ESP32TouchComponent::update_touch_state_(ESP32TouchBinarySensor *child, bool is_touched, uint32_t value) {
+  // Store the value for get_value() access in lambdas
+  child->value_ = value;
+
   // Always update timer when touched
   if (is_touched) {
     child->last_touch_time_ = App.get_loop_component_start_time();
@@ -21,9 +24,8 @@ void ESP32TouchComponent::update_touch_state_(ESP32TouchBinarySensor *child, boo
     child->last_state_ = is_touched;
     child->publish_state(is_touched);
     if (is_touched) {
-      // ESP32-S2/S3 v2: touched when value > threshold
       ESP_LOGV(TAG, "Touch Pad '%s' state: ON (value: %" PRIu32 " > threshold: %" PRIu32 ")", child->get_name().c_str(),
-               this->read_touch_value(child->touch_pad_), child->threshold_ + child->benchmark_);
+               value, child->threshold_ + child->benchmark_);
     } else {
       ESP_LOGV(TAG, "Touch Pad '%s' state: OFF", child->get_name().c_str());
     }
@@ -41,7 +43,7 @@ bool ESP32TouchComponent::check_and_update_touch_state_(ESP32TouchBinarySensor *
            child->get_name().c_str(), child->touch_pad_, value, child->threshold_, child->benchmark_);
   bool is_touched = value > child->benchmark_ + child->threshold_;
 
-  this->update_touch_state_(child, is_touched);
+  this->update_touch_state_(child, is_touched, value);
   return is_touched;
 }
 
@@ -296,7 +298,9 @@ void ESP32TouchComponent::loop() {
           this->check_and_update_touch_state_(child);
         } else if (event.intr_mask & TOUCH_PAD_INTR_MASK_ACTIVE) {
           // We only get ACTIVE interrupts now, releases are detected by timeout
-          this->update_touch_state_(child, true);  // Always touched for ACTIVE interrupts
+          // Read the current value
+          uint32_t value = this->read_touch_value(child->touch_pad_);
+          this->update_touch_state_(child, true, value);  // Always touched for ACTIVE interrupts
         }
         break;
       }
diff --git a/tests/components/esp32_touch/common-get-value.yaml b/tests/components/esp32_touch/common-get-value.yaml
new file mode 100644
index 0000000000..4066303797
--- /dev/null
+++ b/tests/components/esp32_touch/common-get-value.yaml
@@ -0,0 +1,18 @@
+binary_sensor:
+  - platform: esp32_touch
+    name: ESP32 Touch Pad Get Value
+    pin: ${pin}
+    threshold: 1000
+    id: esp32_touch_pad_get_value
+    on_press:
+      then:
+        - lambda: |-
+            // Test that get_value() compiles and works
+            uint32_t value = id(esp32_touch_pad_get_value).get_value();
+            ESP_LOGD("test", "Touch value on press: %u", value);
+    on_release:
+      then:
+        - lambda: |-
+            // Test get_value() on release
+            uint32_t value = id(esp32_touch_pad_get_value).get_value();
+            ESP_LOGD("test", "Touch value on release: %u", value);
diff --git a/tests/components/esp32_touch/test.esp32-idf.yaml b/tests/components/esp32_touch/test.esp32-idf.yaml
index 25316b8646..5158613eb1 100644
--- a/tests/components/esp32_touch/test.esp32-idf.yaml
+++ b/tests/components/esp32_touch/test.esp32-idf.yaml
@@ -2,3 +2,4 @@ substitutions:
   pin: GPIO27
 
 <<: !include common.yaml
+<<: !include common-get-value.yaml
diff --git a/tests/components/esp32_touch/test.esp32-s2-idf.yaml b/tests/components/esp32_touch/test.esp32-s2-idf.yaml
index 575d758fae..b9f5671969 100644
--- a/tests/components/esp32_touch/test.esp32-s2-idf.yaml
+++ b/tests/components/esp32_touch/test.esp32-s2-idf.yaml
@@ -2,3 +2,4 @@ substitutions:
   pin: GPIO12
 
 <<: !include common-variants.yaml
+<<: !include common-get-value.yaml
diff --git a/tests/components/esp32_touch/test.esp32-s3-idf.yaml b/tests/components/esp32_touch/test.esp32-s3-idf.yaml
index 575d758fae..b9f5671969 100644
--- a/tests/components/esp32_touch/test.esp32-s3-idf.yaml
+++ b/tests/components/esp32_touch/test.esp32-s3-idf.yaml
@@ -2,3 +2,4 @@ substitutions:
   pin: GPIO12
 
 <<: !include common-variants.yaml
+<<: !include common-get-value.yaml