diff --git a/esphome/components/http_request/__init__.py b/esphome/components/http_request/__init__.py
index 9f74fb1023..7347b8ebf7 100644
--- a/esphome/components/http_request/__init__.py
+++ b/esphome/components/http_request/__init__.py
@@ -126,7 +126,7 @@ CONFIG_SCHEMA = cv.All(
             ),
             cv.Optional(CONF_CA_CERTIFICATE_PATH): cv.All(
                 cv.file_,
-                cv.only_on(PLATFORM_HOST),
+                cv.Any(cv.only_on(PLATFORM_HOST), cv.only_on_esp32),
             ),
         }
     ).extend(cv.COMPONENT_SCHEMA),
@@ -160,7 +160,14 @@ async def to_code(config):
         cg.add(var.set_verify_ssl(config[CONF_VERIFY_SSL]))
 
         if config.get(CONF_VERIFY_SSL):
-            esp32.add_idf_sdkconfig_option("CONFIG_MBEDTLS_CERTIFICATE_BUNDLE", True)
+            if ca_cert_path := config.get(CONF_CA_CERTIFICATE_PATH):
+                with open(ca_cert_path, encoding="utf-8") as f:
+                    ca_cert_content = f.read()
+                cg.add(var.set_ca_certificate(ca_cert_content))
+            else:
+                esp32.add_idf_sdkconfig_option(
+                    "CONFIG_MBEDTLS_CERTIFICATE_BUNDLE", True
+                )
 
         esp32.add_idf_sdkconfig_option(
             "CONFIG_ESP_TLS_INSECURE",
diff --git a/esphome/components/http_request/http_request_idf.cpp b/esphome/components/http_request/http_request_idf.cpp
index b6fb7f7ea9..680ae6c801 100644
--- a/esphome/components/http_request/http_request_idf.cpp
+++ b/esphome/components/http_request/http_request_idf.cpp
@@ -27,8 +27,9 @@ void HttpRequestIDF::dump_config() {
   HttpRequestComponent::dump_config();
   ESP_LOGCONFIG(TAG,
                 "  Buffer Size RX: %u\n"
-                "  Buffer Size TX: %u",
-                this->buffer_size_rx_, this->buffer_size_tx_);
+                "  Buffer Size TX: %u\n"
+                "  Custom CA Certificate: %s",
+                this->buffer_size_rx_, this->buffer_size_tx_, YESNO(this->ca_certificate_ != nullptr));
 }
 
 esp_err_t HttpRequestIDF::http_event_handler(esp_http_client_event_t *evt) {
@@ -88,11 +89,15 @@ std::shared_ptr<HttpContainer> HttpRequestIDF::perform(const std::string &url, c
   config.disable_auto_redirect = !this->follow_redirects_;
   config.max_redirection_count = this->redirect_limit_;
   config.auth_type = HTTP_AUTH_TYPE_BASIC;
-#if CONFIG_MBEDTLS_CERTIFICATE_BUNDLE
   if (secure && this->verify_ssl_) {
-    config.crt_bundle_attach = esp_crt_bundle_attach;
-  }
+    if (this->ca_certificate_ != nullptr) {
+      config.cert_pem = this->ca_certificate_;
+#if CONFIG_MBEDTLS_CERTIFICATE_BUNDLE
+    } else {
+      config.crt_bundle_attach = esp_crt_bundle_attach;
 #endif
+    }
+  }
 
   if (this->useragent_ != nullptr) {
     config.user_agent = this->useragent_;
diff --git a/esphome/components/http_request/http_request_idf.h b/esphome/components/http_request/http_request_idf.h
index 0fae67f5bc..ad11811a8f 100644
--- a/esphome/components/http_request/http_request_idf.h
+++ b/esphome/components/http_request/http_request_idf.h
@@ -35,6 +35,7 @@ class HttpRequestIDF : public HttpRequestComponent {
   void set_buffer_size_rx(uint16_t buffer_size_rx) { this->buffer_size_rx_ = buffer_size_rx; }
   void set_buffer_size_tx(uint16_t buffer_size_tx) { this->buffer_size_tx_ = buffer_size_tx; }
   void set_verify_ssl(bool verify_ssl) { this->verify_ssl_ = verify_ssl; }
+  void set_ca_certificate(const char *ca_certificate) { this->ca_certificate_ = ca_certificate; }
 
  protected:
   std::shared_ptr<HttpContainer> perform(const std::string &url, const std::string &method, const std::string &body,
@@ -44,6 +45,7 @@ class HttpRequestIDF : public HttpRequestComponent {
   uint16_t buffer_size_rx_{};
   uint16_t buffer_size_tx_{};
   bool verify_ssl_{true};
+  const char *ca_certificate_{nullptr};
 
   /// @brief Monitors the http client events to gather response headers
   static esp_err_t http_event_handler(esp_http_client_event_t *evt);
diff --git a/tests/components/http_request/test-custom-ca.esp32-idf.yaml b/tests/components/http_request/test-custom-ca.esp32-idf.yaml
new file mode 100644
index 0000000000..0b1b2f8829
--- /dev/null
+++ b/tests/components/http_request/test-custom-ca.esp32-idf.yaml
@@ -0,0 +1,7 @@
+substitutions:
+  verify_ssl: "true"
+
+http_request:
+  ca_certificate_path: $component_dir/test_ca.pem
+
+<<: !include common.yaml
diff --git a/tests/components/http_request/test_ca.pem b/tests/components/http_request/test_ca.pem
new file mode 100644
index 0000000000..30cbc1a3c4
--- /dev/null
+++ b/tests/components/http_request/test_ca.pem
@@ -0,0 +1,10 @@
+-----BEGIN CERTIFICATE-----
+MIIBkTCB+wIJAKHBfpegPjMCMA0GCSqGSIb3DQEBCwUAMBExDzANBgNVBAMMBnVu
+dXNlZDAeFw0yNDAxMDEwMDAwMDBaFw0yNTAxMDEwMDAwMDBaMBExDzANBgNVBAMM
+BnVudXNlZDBcMA0GCSqGSIb3DQEBAQUAA0sAMEgCQQC5mMUB1hOgLmlnXtsvcGMP
+XkhAqZaR0dDPW5OS8VEopWLJCX9Y0cvNCqiDI8cnP8pP8XJGU1hGLvA5PJzWnWZz
+AgMBAAGjUzBRMB0GA1UdDgQWBBR5oQ9KqFeZOdBuAJrXxEP0dqzPtTAfBgNVHSME
+GDAWgBR5oQ9KqFeZOdBuAJrXxEP0dqzPtTAPBgNVHRMBAf8EBTADAQH/MA0GCSqG
+SIb3DQEBCwUAA0EAKqZFf6+f8FPDbKyPCpssquojgn7fEXqr/I/yz0R5CowGdMms
+H3WH3aKP4lLSHdPTBtfIoJi3gEIZjFxp3S1TWw==
+-----END CERTIFICATE-----