diff --git a/esphome/components/rp2040/__init__.py b/esphome/components/rp2040/__init__.py
index 7ee8381ca5..54e1db27aa 100644
--- a/esphome/components/rp2040/__init__.py
+++ b/esphome/components/rp2040/__init__.py
@@ -21,7 +21,13 @@ from esphome.const import (
 from esphome.core import CORE, CoroPriority, EsphomeError, coroutine_with_priority
 from esphome.helpers import copy_file_if_changed, read_file, write_file_if_changed
 
-from .const import KEY_BOARD, KEY_PIO_FILES, KEY_RP2040, rp2040_ns
+from .const import (
+    CONF_ENABLE_FULL_PRINTF,
+    KEY_BOARD,
+    KEY_PIO_FILES,
+    KEY_RP2040,
+    rp2040_ns,
+)
 
 # force import gpio to register pin schema
 from .gpio import rp2040_pin_to_code  # noqa
@@ -153,6 +159,7 @@ CONFIG_SCHEMA = cv.All(
                 cv.positive_time_period_milliseconds,
                 cv.Range(max=cv.TimePeriod(milliseconds=8388)),
             ),
+            cv.Optional(CONF_ENABLE_FULL_PRINTF, default=False): cv.boolean,
         }
     ),
     set_core_data,
@@ -191,9 +198,12 @@ async def to_code(config):
     )
 
     # Wrap FILE*-based printf functions to eliminate newlib's _vfprintf_r
-    # (~8.9 KB). See printf_stubs.cpp for implementation.
-    for symbol in ("vprintf", "printf", "fprintf"):
-        cg.add_build_flag(f"-Wl,--wrap={symbol}")
+    # (~9.2 KB). See printf_stubs.cpp for implementation.
+    if config.get(CONF_ENABLE_FULL_PRINTF):
+        cg.add_define("USE_FULL_PRINTF")
+    else:
+        for symbol in ("vprintf", "printf", "fprintf"):
+            cg.add_build_flag(f"-Wl,--wrap={symbol}")
 
     cg.add_platformio_option("board_build.core", "earlephilhower")
     cg.add_platformio_option("board_build.filesystem_size", "1m")
diff --git a/esphome/components/rp2040/const.py b/esphome/components/rp2040/const.py
index ab5f42d757..7eeddffc76 100644
--- a/esphome/components/rp2040/const.py
+++ b/esphome/components/rp2040/const.py
@@ -1,5 +1,6 @@
 import esphome.codegen as cg
 
+CONF_ENABLE_FULL_PRINTF = "enable_full_printf"
 KEY_BOARD = "board"
 KEY_RP2040 = "rp2040"
 KEY_PIO_FILES = "pio_files"
diff --git a/esphome/components/rp2040/printf_stubs.cpp b/esphome/components/rp2040/printf_stubs.cpp
index 83d916cd2c..c2174a1dec 100644
--- a/esphome/components/rp2040/printf_stubs.cpp
+++ b/esphome/components/rp2040/printf_stubs.cpp
@@ -32,6 +32,9 @@ static int write_printf_buffer(FILE *stream, char *buf, int len) {
   size_t write_len = len;
   if (write_len >= PRINTF_BUFFER_SIZE) {
     fwrite(buf, 1, PRINTF_BUFFER_SIZE - 1, stream);
+    // Use fwrite for the message to avoid recursive __wrap_printf call
+    static const char msg[] = "\nprintf buffer overflow\n";
+    fwrite(msg, 1, sizeof(msg) - 1, stream);
     abort();
   }
   if (fwrite(buf, 1, write_len, stream) < write_len || ferror(stream)) {
diff --git a/tests/components/rp2040/test.rp2040-ard.yaml b/tests/components/rp2040/test.rp2040-ard.yaml
index 039a261016..1eb315a3b4 100644
--- a/tests/components/rp2040/test.rp2040-ard.yaml
+++ b/tests/components/rp2040/test.rp2040-ard.yaml
@@ -1,3 +1,6 @@
+rp2040:
+  enable_full_printf: false
+
 logger:
   level: VERBOSE