diff --git a/esphome/components/sensor/__init__.py b/esphome/components/sensor/__init__.py
index 44ba87f86a..9f3c1484b0 100644
--- a/esphome/components/sensor/__init__.py
+++ b/esphome/components/sensor/__init__.py
@@ -901,7 +901,6 @@ async def _build_sensor_automations(var, config):
         trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID], var)
         await automation.build_automation(trigger, [(float, "x")], conf)
     for conf in config.get(CONF_ON_RAW_VALUE, []):
-        cg.add_define("USE_SENSOR_FILTER")
         trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID], var)
         await automation.build_automation(trigger, [(float, "x")], conf)
     for conf in config.get(CONF_ON_VALUE_RANGE, []):
diff --git a/esphome/components/sensor/automation.h b/esphome/components/sensor/automation.h
index bcd2ca0f0d..b4de712727 100644
--- a/esphome/components/sensor/automation.h
+++ b/esphome/components/sensor/automation.h
@@ -13,14 +13,12 @@ class SensorStateTrigger : public Trigger<float> {
   }
 };
 
-#ifdef USE_SENSOR_FILTER
 class SensorRawStateTrigger : public Trigger<float> {
  public:
   explicit SensorRawStateTrigger(Sensor *parent) {
     parent->add_on_raw_state_callback([this](float value) { this->trigger(value); });
   }
 };
-#endif
 
 template<typename... Ts> class SensorPublishAction : public Action<Ts...> {
  public: