diff --git a/esphome/components/ld2420/ld2420.cpp b/esphome/components/ld2420/ld2420.cpp
index e81f117a1b3..b5f3292fbc2 100644
--- a/esphome/components/ld2420/ld2420.cpp
+++ b/esphome/components/ld2420/ld2420.cpp
@@ -683,6 +683,7 @@ int LD2420Component::send_cmd_from_array(CmdFrameT frame) {
       this->handle_cmd_error(this->cmd_reply_.error);
     }
   }
+  this->cmd_active_ = false;  // Resend and give-up are done; let loop() read the UART again
   return error;
 }
 
diff --git a/tests/integration/fixtures/uart_mock_ld2420_config_exit.yaml b/tests/integration/fixtures/uart_mock_ld2420_config_exit.yaml
new file mode 100644
index 00000000000..dfea7b23ad8
--- /dev/null
+++ b/tests/integration/fixtures/uart_mock_ld2420_config_exit.yaml
@@ -0,0 +1,97 @@
+esphome:
+  name: uart-mock-ld2420-config-exit
+
+host:
+api:
+  batch_delay: 0ms
+logger:
+  level: VERBOSE
+
+external_components:
+  - source:
+      type: local
+      path: EXTERNAL_COMPONENT_PATH
+
+# Dummy uart entry to satisfy ld2420's DEPENDENCIES = ["uart"]
+uart:
+  baud_rate: 115200
+  port: /dev/null
+
+uart_mock:
+  id: mock_uart
+  baud_rate: 115200
+  auto_start: false
+  # Energy reports with distance 100, then 101, more than the 1 s report interval apart.
+  # Each delay counts from the previous injection.
+  injections:
+    - delay: 1200ms
+      inject_rx: [0xF4, 0xF3, 0xF2, 0xF1, 0x23, 0x00, 0x01, 0x64, 0x00,
+                  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+                  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+                  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+                  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+                  0xF8, 0xF7, 0xF6, 0xF5]
+    - delay: 1500ms
+      inject_rx: [0xF4, 0xF3, 0xF2, 0xF1, 0x23, 0x00, 0x01, 0x65, 0x00,
+                  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+                  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+                  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+                  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+                  0xF8, 0xF7, 0xF6, 0xF5]
+  on_tx:
+    - then:
+        - lambda: |-
+            // Rebuild command frames however the writes are split, and answer each by its command byte.
+            // Reply to config exit (0xFE): 0 none, 1 failure status, 2 too short, 3 success
+            static constexpr int MODE = EXIT_REPLY_MODE;
+            static std::vector<uint8_t> buf;
+            static int exit_sends = 0;
+            buf.insert(buf.end(), data.begin(), data.end());
+            while (buf.size() >= 6) {
+              if (buf[0] != 0xFD || buf[1] != 0xFC || buf[2] != 0xFB || buf[3] != 0xFA) {
+                buf.erase(buf.begin());
+                continue;
+              }
+              size_t len = buf[4] | (buf[5] << 8);
+              if (buf.size() < len + 10)
+                return;
+              uint8_t cmd = buf[6];
+              size_t params = len >= 2 ? (len - 2) / 2 : 0;
+              buf.erase(buf.begin(), buf.begin() + len + 10);
+              std::vector<uint8_t> body = {cmd, 0x01, 0x00, 0x00};  // reply word, status
+              if (cmd == 0x68) {
+                continue;  // restart has no reply
+              } else if (cmd == 0x00) {
+                body.insert(body.end(), {0x06, 0x00, 0x76, 0x32, 0x2E, 0x30, 0x2E, 0x30});  // "v2.0.0"
+              } else if (cmd == 0x08) {
+                body.insert(body.end(), params * 4, 0x00);
+              } else if (cmd == 0xFE) {
+                ESP_LOGI("ld2420_test", "Config exit sent %d", ++exit_sends);
+                if (MODE == 0)
+                  continue;
+                if (MODE == 1)
+                  body[2] = 0x01;
+                if (MODE == 2)
+                  body.resize(1);
+              }
+              std::vector<uint8_t> reply = {0xFD, 0xFC, 0xFB, 0xFA, static_cast<uint8_t>(body.size()), 0x00};
+              reply.insert(reply.end(), body.begin(), body.end());
+              reply.insert(reply.end(), {0x04, 0x03, 0x02, 0x01});
+              id(mock_uart).inject_to_rx_buffer(reply);
+            }
+
+button:
+  - platform: template
+    name: "Start Scenario"
+    on_press:
+      - lambda: 'id(mock_uart).start_scenario();'
+
+ld2420:
+  id: ld2420_dev
+  uart_id: mock_uart
+
+sensor:
+  - platform: ld2420
+    ld2420_id: ld2420_dev
+    moving_distance:
+      name: "Moving Distance"
diff --git a/tests/integration/test_uart_mock_ld2420_config_exit.py b/tests/integration/test_uart_mock_ld2420_config_exit.py
new file mode 100644
index 00000000000..28b4f202d72
--- /dev/null
+++ b/tests/integration/test_uart_mock_ld2420_config_exit.py
@@ -0,0 +1,79 @@
+"""Integration test for LD2420 reports after the last config exit command."""
+
+from __future__ import annotations
+
+import asyncio
+import re
+
+from aioesphomeapi import ButtonInfo
+import pytest
+
+from .state_utils import InitialStateHelper, SensorStateCollector, require_entity
+from .types import APIClientConnectedFactory, RunCompiledFunction
+
+EXIT_SENT = re.compile(r"Config exit sent (\d+)")
+
+
+@pytest.mark.asyncio
+@pytest.mark.parametrize(
+    ("mode", "expected_sends"),
+    [
+        pytest.param(0, 3, id="silent"),
+        pytest.param(1, 3, id="nack"),
+        pytest.param(2, 3, id="short"),
+        pytest.param(3, 1, id="ack"),
+    ],
+)
+async def test_uart_mock_ld2420_config_exit(
+    yaml_config: str,
+    run_compiled: RunCompiledFunction,
+    api_client_connected: APIClientConnectedFactory,
+    mode: int,
+    expected_sends: int,
+) -> None:
+    """Test both energy reports arrive after the last config exit, and a failed exit is still sent 3 times."""
+    exit_sends: list[int] = []
+
+    def line_callback(line: str) -> None:
+        if match := EXIT_SENT.search(line):
+            exit_sends.append(int(match[1]))
+
+    collector = SensorStateCollector(sensor_names=["moving_distance"])
+    yaml_config = yaml_config.replace("EXIT_REPLY_MODE", str(mode))
+
+    async with (
+        run_compiled(yaml_config, line_callback=line_callback),
+        api_client_connected() as client,
+    ):
+        entities, _ = await client.list_entities_services()
+        collector.build_key_mapping(entities)
+        initial_state_helper = InitialStateHelper(entities)
+        client.subscribe_states(
+            initial_state_helper.on_state_wrapper(collector.on_state)
+        )
+        try:
+            await initial_state_helper.wait_for_initial_states()
+        except TimeoutError:
+            pytest.fail("Timeout waiting for initial states")
+
+        start_btn = require_entity(entities, "start_scenario", ButtonInfo)
+        client.button_command(start_btn.key)
+
+        resumed = collector.add_waiter(
+            lambda: len(collector.sensor_states["moving_distance"]) >= 2
+        )
+        try:
+            await asyncio.wait_for(resumed, timeout=5.0)
+        except TimeoutError:
+            pytest.fail(
+                "Energy reports did not resume after the last config exit.\n"
+                f"  exit sends: {exit_sends}\n"
+                f"  sensor_states: {collector.sensor_states}"
+            )
+
+        # The sensor skips repeated values, so each distinct distance is one report
+        assert collector.sensor_states["moving_distance"] == pytest.approx(
+            [100.0, 101.0]
+        )
+        # A failed exit is resent and then given up; it is never treated as answered
+        assert exit_sends == list(range(1, expected_sends + 1))