diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index 6dce70f8396..f2d60be6413 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -88,12 +88,18 @@ void ESP32BLETracker::setup() {
 #ifdef USE_OTA_STATE_LISTENER
 void ESP32BLETracker::on_ota_global_state(ota::OTAState state, float progress, uint8_t error, ota::OTAComponent *comp) {
   if (state == ota::OTA_STARTED) {
+    this->scan_continuous_before_ota_ = this->scan_continuous_;
     this->stop_scan();
 #ifdef ESPHOME_ESP32_BLE_TRACKER_CLIENT_COUNT
     for (auto *client : this->clients_) {
       client->disconnect();
     }
 #endif
+  } else if ((state == ota::OTA_ERROR || state == ota::OTA_ABORT) && this->scan_continuous_before_ota_) {
+    this->scan_continuous_before_ota_ = false;
+    this->scan_continuous_ = true;
+    // Do not restart scanning immediately here; allow loop() to
+    // safely restart scanning once the scanner and all clients are idle.
   }
 }
 #endif
diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
index ff69a4dcd2d..43405b02b7f 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
@@ -431,6 +431,9 @@ class ESP32BLETracker : public Component,
   ScannerState scanner_state_{ScannerState::IDLE};
   bool scan_continuous_;
   bool scan_active_;
+#ifdef USE_OTA_STATE_LISTENER
+  bool scan_continuous_before_ota_{false};
+#endif
   bool ble_was_disabled_{true};
   bool raw_advertisements_{false};
   bool parse_advertisements_{false};