diff --git a/esphome/components/esp32_touch/esp32_touch_v1.cpp b/esphome/components/esp32_touch/esp32_touch_v1.cpp
index 629dc8e793..d41f1615c8 100644
--- a/esphome/components/esp32_touch/esp32_touch_v1.cpp
+++ b/esphome/components/esp32_touch/esp32_touch_v1.cpp
@@ -201,15 +201,13 @@ void IRAM_ATTR ESP32TouchComponent::touch_isr_handler(void *arg) {
     touch_pad_t pad = child->get_touch_pad();
 
     // Read current value using ISR-safe API
-    uint32_t value;
-    if (component->iir_filter_enabled_()) {
-      uint16_t temp_value = 0;
-      touch_pad_read_filtered(pad, &temp_value);
-      value = temp_value;
-    } else {
-      // Use low-level HAL function when filter is not enabled
-      value = touch_ll_read_raw_data(pad);
-    }
+    // IMPORTANT: ESP-IDF v5.4 regression - touch_pad_read_filtered() is no longer ISR-safe
+    // In v5.3 and earlier it was ISR-safe, but v5.4 added mutex protection that causes:
+    // "assert failed: xQueueSemaphoreTake queue.c:1718"
+    // We must use raw values even when filter is enabled as a workaround.
+    // Users should adjust thresholds to compensate for the lack of IIR filtering.
+    // See: https://github.com/espressif/esp-idf/issues/17045
+    uint32_t value = touch_ll_read_raw_data(pad);
 
     // Skip pads that aren’t in the trigger mask
     if (((mask >> pad) & 1) == 0) {