diff --git a/esphome/components/vl53l0x/sensor.py b/esphome/components/vl53l0x/sensor.py
index 8055d5ff77..583d6ccca9 100644
--- a/esphome/components/vl53l0x/sensor.py
+++ b/esphome/components/vl53l0x/sensor.py
@@ -20,6 +20,7 @@ VL53L0XSensor = vl53l0x_ns.class_(
 
 CONF_SIGNAL_RATE_LIMIT = "signal_rate_limit"
 CONF_LONG_RANGE = "long_range"
+CONF_TIMING_BUDGET = "timing_budget"
 
 
 def check_keys(obj):
@@ -54,6 +55,13 @@ CONFIG_SCHEMA = cv.All(
             cv.Optional(CONF_LONG_RANGE, default=False): cv.boolean,
             cv.Optional(CONF_TIMEOUT, default="10ms"): check_timeout,
             cv.Optional(CONF_ENABLE_PIN): pins.gpio_output_pin_schema,
+            cv.Optional(CONF_TIMING_BUDGET): cv.All(
+                cv.positive_time_period_microseconds,
+                cv.Range(
+                    min=cv.TimePeriod(microseconds=20000),
+                    max=cv.TimePeriod(microseconds=4294967295),
+                ),
+            ),
         }
     )
     .extend(cv.polling_component_schema("60s"))
@@ -73,4 +81,7 @@ async def to_code(config):
         enable = await cg.gpio_pin_expression(config[CONF_ENABLE_PIN])
         cg.add(var.set_enable_pin(enable))
 
+    if timing_budget := config.get(CONF_TIMING_BUDGET):
+        cg.add(var.set_timing_budget(timing_budget))
+
     await i2c.register_i2c_device(var, config)
diff --git a/esphome/components/vl53l0x/vl53l0x_sensor.cpp b/esphome/components/vl53l0x/vl53l0x_sensor.cpp
index b07779a653..d0b7116eb8 100644
--- a/esphome/components/vl53l0x/vl53l0x_sensor.cpp
+++ b/esphome/components/vl53l0x/vl53l0x_sensor.cpp
@@ -28,6 +28,7 @@ void VL53L0XSensor::dump_config() {
     LOG_PIN("  Enable Pin: ", this->enable_pin_);
   }
   ESP_LOGCONFIG(TAG, "  Timeout: %u%s", this->timeout_us_, this->timeout_us_ > 0 ? "us" : " (no timeout)");
+  ESP_LOGCONFIG(TAG, "  Timing Budget %uus ", this->measurement_timing_budget_us_);
 }
 
 void VL53L0XSensor::setup() {
@@ -230,7 +231,10 @@ void VL53L0XSensor::setup() {
   reg(0x84) &= ~0x10;
   reg(0x0B) = 0x01;
 
-  measurement_timing_budget_us_ = get_measurement_timing_budget_();
+  if (this->measurement_timing_budget_us_ == 0) {
+    this->measurement_timing_budget_us_ = this->get_measurement_timing_budget_();
+  }
+
   reg(0x01) = 0xE8;
   set_measurement_timing_budget_(measurement_timing_budget_us_);
   reg(0x01) = 0x01;
diff --git a/esphome/components/vl53l0x/vl53l0x_sensor.h b/esphome/components/vl53l0x/vl53l0x_sensor.h
index 971fb458bb..dd76e8e0ab 100644
--- a/esphome/components/vl53l0x/vl53l0x_sensor.h
+++ b/esphome/components/vl53l0x/vl53l0x_sensor.h
@@ -39,6 +39,7 @@ class VL53L0XSensor : public sensor::Sensor, public PollingComponent, public i2c
   void set_long_range(bool long_range) { long_range_ = long_range; }
   void set_timeout_us(uint32_t timeout_us) { this->timeout_us_ = timeout_us; }
   void set_enable_pin(GPIOPin *enable) { this->enable_pin_ = enable; }
+  void set_timing_budget(uint32_t timing_budget) { this->measurement_timing_budget_us_ = timing_budget; }
 
  protected:
   uint32_t get_measurement_timing_budget_();
@@ -59,7 +60,7 @@ class VL53L0XSensor : public sensor::Sensor, public PollingComponent, public i2c
   float signal_rate_limit_;
   bool long_range_;
   GPIOPin *enable_pin_{nullptr};
-  uint32_t measurement_timing_budget_us_;
+  uint32_t measurement_timing_budget_us_{0};
   bool initiated_read_{false};
   bool waiting_for_interrupt_{false};
   uint8_t stop_variable_;
diff --git a/tests/components/vl53l0x/common.yaml b/tests/components/vl53l0x/common.yaml
index 973e481b1a..8346eae854 100644
--- a/tests/components/vl53l0x/common.yaml
+++ b/tests/components/vl53l0x/common.yaml
@@ -10,3 +10,4 @@ sensor:
     enable_pin: 3
     timeout: 200us
     update_interval: 60s
+    timing_budget: 30000us