diff --git a/esphome/components/voice_assistant/__init__.py b/esphome/components/voice_assistant/__init__.py
index 2f193ebb4e..14c036de8e 100644
--- a/esphome/components/voice_assistant/__init__.py
+++ b/esphome/components/voice_assistant/__init__.py
@@ -59,12 +59,6 @@ MAX_MICROPHONE_SOURCES = 2
 voice_assistant_ns = cg.esphome_ns.namespace("voice_assistant")
 VoiceAssistant = voice_assistant_ns.class_("VoiceAssistant", cg.Component)
 
-IsRunningCondition = voice_assistant_ns.class_(
-    "IsRunningCondition", automation.Condition, cg.Parented.template(VoiceAssistant)
-)
-ConnectedCondition = voice_assistant_ns.class_(
-    "ConnectedCondition", automation.Condition, cg.Parented.template(VoiceAssistant)
-)
 
 Timer = voice_assistant_ns.struct("Timer")
 
@@ -421,15 +415,14 @@ automation.register_apply_action(
 )
 
 
-automation.register_parented_condition(
+automation.register_apply_condition(
     "voice_assistant.is_running",
-    IsRunningCondition,
     VOICE_ASSISTANT_ACTION_SCHEMA,
+    "is_running_or_continuous()",
 )
 
-
-automation.register_parented_condition(
+automation.register_apply_condition(
     "voice_assistant.connected",
-    ConnectedCondition,
     VOICE_ASSISTANT_ACTION_SCHEMA,
+    "get_api_connection() != nullptr",
 )
diff --git a/esphome/components/voice_assistant/voice_assistant.h b/esphome/components/voice_assistant/voice_assistant.h
index 88ddb2066a..e99ee07099 100644
--- a/esphome/components/voice_assistant/voice_assistant.h
+++ b/esphome/components/voice_assistant/voice_assistant.h
@@ -182,6 +182,8 @@ class VoiceAssistant final : public Component {
   bool is_running() const { return this->state_ != State::IDLE; }
   void set_continuous(bool continuous) { this->continuous_ = continuous; }
   bool is_continuous() const { return this->continuous_; }
+  /// The voice_assistant.is_running condition: a pipeline is running or continuous mode keeps one coming.
+  bool is_running_or_continuous() const { return this->is_running() || this->is_continuous(); }
 
   void set_use_wake_word(bool use_wake_word) { this->use_wake_word_ = use_wake_word; }
 
@@ -347,16 +349,6 @@ class VoiceAssistant final : public Component {
 #endif
 };
 
-template<typename... Ts> class IsRunningCondition final : public Condition<Ts...>, public Parented<VoiceAssistant> {
- public:
-  bool check(const Ts &...x) override { return this->parent_->is_running() || this->parent_->is_continuous(); }
-};
-
-template<typename... Ts> class ConnectedCondition final : public Condition<Ts...>, public Parented<VoiceAssistant> {
- public:
-  bool check(const Ts &...x) override { return this->parent_->get_api_connection() != nullptr; }
-};
-
 extern VoiceAssistant *global_voice_assistant;  // NOLINT(cppcoreguidelines-avoid-non-const-global-variables)
 
 }  // namespace esphome::voice_assistant
diff --git a/tests/components/voice_assistant/common-actions.yaml b/tests/components/voice_assistant/common-actions.yaml
new file mode 100644
index 0000000000..e529b62ca7
--- /dev/null
+++ b/tests/components/voice_assistant/common-actions.yaml
@@ -0,0 +1,14 @@
+button:
+  - platform: template
+    name: Voice assistant state
+    on_press:
+      - if:
+          condition:
+            voice_assistant.is_running:
+          then:
+            - logger.log: Running
+      - if:
+          condition:
+            voice_assistant.connected:
+          then:
+            - logger.log: Connected
diff --git a/tests/components/voice_assistant/test-actions.esp32-idf.yaml b/tests/components/voice_assistant/test-actions.esp32-idf.yaml
new file mode 100644
index 0000000000..7cd9a5c355
--- /dev/null
+++ b/tests/components/voice_assistant/test-actions.esp32-idf.yaml
@@ -0,0 +1,9 @@
+substitutions:
+  i2s_din_pin: GPIO34
+  i2s_din_pin2: GPIO35
+  i2s_dout_pin: GPIO32
+
+packages:
+  i2s_audio: !include ../../test_build_components/common/i2s_audio/esp32-idf.yaml
+  voice_assistant: !include common-idf.yaml
+  actions: !include common-actions.yaml