diff --git a/esphome/components/modbus_controller/__init__.py b/esphome/components/modbus_controller/__init__.py
index b8ab48fcc6..1d0f406783 100644
--- a/esphome/components/modbus_controller/__init__.py
+++ b/esphome/components/modbus_controller/__init__.py
@@ -1,8 +1,16 @@
 import binascii
 import esphome.codegen as cg
 import esphome.config_validation as cv
+from esphome import automation
 from esphome.components import modbus
-from esphome.const import CONF_ADDRESS, CONF_ID, CONF_NAME, CONF_LAMBDA, CONF_OFFSET
+from esphome.const import (
+    CONF_ADDRESS,
+    CONF_ID,
+    CONF_NAME,
+    CONF_LAMBDA,
+    CONF_OFFSET,
+    CONF_TRIGGER_ID,
+)
 from esphome.cpp_helpers import logging
 from .const import (
     CONF_BITMASK,
@@ -12,6 +20,7 @@ from .const import (
     CONF_CUSTOM_COMMAND,
     CONF_FORCE_NEW_RANGE,
     CONF_MODBUS_CONTROLLER_ID,
+    CONF_ON_COMMAND_SENT,
     CONF_REGISTER_COUNT,
     CONF_REGISTER_TYPE,
     CONF_RESPONSE_SIZE,
@@ -97,6 +106,10 @@ TYPE_REGISTER_MAP = {
     "FP32_R": 2,
 }
 
+ModbusCommandSentTrigger = modbus_controller_ns.class_(
+    "ModbusCommandSentTrigger", automation.Trigger.template(cg.int_, cg.int_)
+)
+
 _LOGGER = logging.getLogger(__name__)
 
 ModbusServerRegisterSchema = cv.Schema(
@@ -120,13 +133,19 @@ CONFIG_SCHEMA = cv.All(
             cv.Optional(
                 CONF_SERVER_REGISTERS,
             ): cv.ensure_list(ModbusServerRegisterSchema),
+            cv.Optional(CONF_ON_COMMAND_SENT): automation.validate_automation(
+                {
+                    cv.GenerateID(CONF_TRIGGER_ID): cv.declare_id(
+                        ModbusCommandSentTrigger
+                    ),
+                }
+            ),
         }
     )
     .extend(cv.polling_component_schema("60s"))
     .extend(modbus.modbus_device_schema(0x01))
 )
 
-
 ModbusItemBaseSchema = cv.Schema(
     {
         cv.GenerateID(CONF_MODBUS_CONTROLLER_ID): cv.use_id(ModbusController),
@@ -254,6 +273,11 @@ async def to_code(config):
                 )
             )
     await register_modbus_device(var, config)
+    for conf in config.get(CONF_ON_COMMAND_SENT, []):
+        trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID], var)
+        await automation.build_automation(
+            trigger, [(int, "function_code"), (int, "address")], conf
+        )
 
 
 async def register_modbus_device(var, config):
diff --git a/esphome/components/modbus_controller/automation.h b/esphome/components/modbus_controller/automation.h
new file mode 100644
index 0000000000..ad8de4b05d
--- /dev/null
+++ b/esphome/components/modbus_controller/automation.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include "esphome/core/component.h"
+#include "esphome/core/automation.h"
+#include "esphome/components/modbus_controller/modbus_controller.h"
+
+namespace esphome {
+namespace modbus_controller {
+
+class ModbusCommandSentTrigger : public Trigger<int, int> {
+ public:
+  ModbusCommandSentTrigger(ModbusController *a_modbuscontroller) {
+    a_modbuscontroller->add_on_command_sent_callback(
+        [this](int function_code, int address) { this->trigger(function_code, address); });
+  }
+};
+
+}  // namespace modbus_controller
+}  // namespace esphome
diff --git a/esphome/components/modbus_controller/const.py b/esphome/components/modbus_controller/const.py
index 1a23640e17..1f5c39895c 100644
--- a/esphome/components/modbus_controller/const.py
+++ b/esphome/components/modbus_controller/const.py
@@ -6,6 +6,7 @@ CONF_CUSTOM_COMMAND = "custom_command"
 CONF_FORCE_NEW_RANGE = "force_new_range"
 CONF_MODBUS_CONTROLLER_ID = "modbus_controller_id"
 CONF_MODBUS_FUNCTIONCODE = "modbus_functioncode"
+CONF_ON_COMMAND_SENT = "on_command_sent"
 CONF_RAW_ENCODE = "raw_encode"
 CONF_REGISTER_COUNT = "register_count"
 CONF_REGISTER_TYPE = "register_type"
diff --git a/esphome/components/modbus_controller/modbus_controller.cpp b/esphome/components/modbus_controller/modbus_controller.cpp
index 29d3137603..378e5c06c0 100644
--- a/esphome/components/modbus_controller/modbus_controller.cpp
+++ b/esphome/components/modbus_controller/modbus_controller.cpp
@@ -43,7 +43,11 @@ bool ModbusController::send_next_command_() {
       ESP_LOGV(TAG, "Sending next modbus command to device %d register 0x%02X count %d", this->address_,
                command->register_address, command->register_count);
       command->send();
+
       this->last_command_timestamp_ = millis();
+
+      this->command_sent_callback_.call((int) command->function_code, command->register_address);
+
       // remove from queue if no handler is defined
       if (!command->on_data_func) {
         command_queue_.pop_front();
@@ -659,5 +663,9 @@ int64_t payload_to_number(const std::vector<uint8_t> &data, SensorValueType sens
   return value;
 }
 
+void ModbusController::add_on_command_sent_callback(std::function<void(int, int)> &&callback) {
+  this->command_sent_callback_.add(std::move(callback));
+}
+
 }  // namespace modbus_controller
 }  // namespace esphome
diff --git a/esphome/components/modbus_controller/modbus_controller.h b/esphome/components/modbus_controller/modbus_controller.h
index 9b7d59c93f..3bc11da879 100644
--- a/esphome/components/modbus_controller/modbus_controller.h
+++ b/esphome/components/modbus_controller/modbus_controller.h
@@ -456,6 +456,8 @@ class ModbusController : public PollingComponent, public modbus::ModbusDevice {
   size_t get_command_queue_length() { return command_queue_.size(); }
   /// get if the module is offline, didn't respond the last command
   bool get_module_offline() { return module_offline_; }
+  /// Set callback for commands
+  void add_on_command_sent_callback(std::function<void(int, int)> &&callback);
 
  protected:
   /// parse sensormap_ and create range of sequential addresses
@@ -488,6 +490,7 @@ class ModbusController : public PollingComponent, public modbus::ModbusDevice {
   bool module_offline_;
   /// how many updates to skip if module is offline
   uint16_t offline_skip_updates_;
+  CallbackManager<void(int, int)> command_sent_callback_{};
 };
 
 /** Convert vector<uint8_t> response payload to float.