diff --git a/esphome/components/binary_sensor/filter.h b/esphome/components/binary_sensor/filter.h
index 0c66047769..8d52e5b896 100644
--- a/esphome/components/binary_sensor/filter.h
+++ b/esphome/components/binary_sensor/filter.h
@@ -114,10 +114,9 @@ template<size_t N> class AutorepeatFilter : public AutorepeatFilterBase {
   explicit AutorepeatFilter(std::initializer_list<AutorepeatFilterTiming> timings) {
     size_t i = 0;
     for (const auto &t : timings) {
-      if (i >= N)
-        break;
       this->timings_storage_[i++] = t;
     }
+    ESPHOME_DEBUG_ASSERT(i == N);
     this->timings_ = this->timings_storage_.data();
     this->timings_count_ = N;
   }