diff --git a/esphome/components/canbus/canbus.cpp b/esphome/components/canbus/canbus.cpp
index 6e61f05be7..e208b0fd66 100644
--- a/esphome/components/canbus/canbus.cpp
+++ b/esphome/components/canbus/canbus.cpp
@@ -21,8 +21,8 @@ void Canbus::dump_config() {
   }
 }
 
-void Canbus::send_data(uint32_t can_id, bool use_extended_id, bool remote_transmission_request,
-                       const std::vector<uint8_t> &data) {
+canbus::Error Canbus::send_data(uint32_t can_id, bool use_extended_id, bool remote_transmission_request,
+                                const std::vector<uint8_t> &data) {
   struct CanFrame can_message;
 
   uint8_t size = static_cast<uint8_t>(data.size());
@@ -45,13 +45,15 @@ void Canbus::send_data(uint32_t can_id, bool use_extended_id, bool remote_transm
     ESP_LOGVV(TAG, "  data[%d]=%02x", i, can_message.data[i]);
   }
 
-  if (this->send_message(&can_message) != canbus::ERROR_OK) {
+  canbus::Error error = this->send_message(&can_message);
+  if (error != canbus::ERROR_OK) {
     if (use_extended_id) {
-      ESP_LOGW(TAG, "send to extended id=0x%08" PRIx32 " failed!", can_id);
+      ESP_LOGW(TAG, "send to extended id=0x%08" PRIx32 " failed with error %d!", can_id, error);
     } else {
-      ESP_LOGW(TAG, "send to standard id=0x%03" PRIx32 " failed!", can_id);
+      ESP_LOGW(TAG, "send to standard id=0x%03" PRIx32 " failed with error %d!", can_id, error);
     }
   }
+  return error;
 }
 
 void Canbus::add_trigger(CanbusTrigger *trigger) {
diff --git a/esphome/components/canbus/canbus.h b/esphome/components/canbus/canbus.h
index 7319bfb4ad..56e2f2719b 100644
--- a/esphome/components/canbus/canbus.h
+++ b/esphome/components/canbus/canbus.h
@@ -70,11 +70,11 @@ class Canbus : public Component {
   float get_setup_priority() const override { return setup_priority::HARDWARE; }
   void loop() override;
 
-  void send_data(uint32_t can_id, bool use_extended_id, bool remote_transmission_request,
-                 const std::vector<uint8_t> &data);
-  void send_data(uint32_t can_id, bool use_extended_id, const std::vector<uint8_t> &data) {
+  canbus::Error send_data(uint32_t can_id, bool use_extended_id, bool remote_transmission_request,
+                          const std::vector<uint8_t> &data);
+  canbus::Error send_data(uint32_t can_id, bool use_extended_id, const std::vector<uint8_t> &data) {
     // for backwards compatibility only
-    this->send_data(can_id, use_extended_id, false, data);
+    return this->send_data(can_id, use_extended_id, false, data);
   }
   void set_can_id(uint32_t can_id) { this->can_id_ = can_id; }
   void set_use_extended_id(bool use_extended_id) { this->use_extended_id_ = use_extended_id; }
diff --git a/esphome/components/mcp2515/mcp2515.cpp b/esphome/components/mcp2515/mcp2515.cpp
index 23104f5aeb..d40a64b68e 100644
--- a/esphome/components/mcp2515/mcp2515.cpp
+++ b/esphome/components/mcp2515/mcp2515.cpp
@@ -155,7 +155,7 @@ void MCP2515::prepare_id_(uint8_t *buffer, const bool extended, const uint32_t i
     canid = (uint16_t) (id >> 16);
     buffer[MCP_SIDL] = (uint8_t) (canid & 0x03);
     buffer[MCP_SIDL] += (uint8_t) ((canid & 0x1C) << 3);
-    buffer[MCP_SIDL] |= TXB_EXIDE_MASK;
+    buffer[MCP_SIDL] |= SIDL_EXIDE_MASK;
     buffer[MCP_SIDH] = (uint8_t) (canid >> 5);
   } else {
     buffer[MCP_SIDH] = (uint8_t) (canid >> 3);
@@ -258,7 +258,7 @@ canbus::Error MCP2515::send_message(struct canbus::CanFrame *frame) {
     }
   }
 
-  return canbus::ERROR_FAILTX;
+  return canbus::ERROR_ALLTXBUSY;
 }
 
 canbus::Error MCP2515::read_message_(RXBn rxbn, struct canbus::CanFrame *frame) {
@@ -272,7 +272,7 @@ canbus::Error MCP2515::read_message_(RXBn rxbn, struct canbus::CanFrame *frame)
   bool use_extended_id = false;
   bool remote_transmission_request = false;
 
-  if ((tbufdata[MCP_SIDL] & TXB_EXIDE_MASK) == TXB_EXIDE_MASK) {
+  if ((tbufdata[MCP_SIDL] & SIDL_EXIDE_MASK) == SIDL_EXIDE_MASK) {
     id = (id << 2) + (tbufdata[MCP_SIDL] & 0x03);
     id = (id << 8) + tbufdata[MCP_EID8];
     id = (id << 8) + tbufdata[MCP_EID0];
@@ -315,6 +315,17 @@ canbus::Error MCP2515::read_message(struct canbus::CanFrame *frame) {
     rc = canbus::ERROR_NOMSG;
   }
 
+#ifdef ESPHOME_LOG_HAS_DEBUG
+  uint8_t err = get_error_flags_();
+  // The receive flowchart in the datasheet says that if rollover is set (BUKT), RX1OVR flag will be set
+  // once both buffers are full. However, the RX0OVR flag is actually set instead.
+  // We can just check for both though because it doesn't break anything.
+  if (err & (EFLG_RX0OVR | EFLG_RX1OVR)) {
+    ESP_LOGD(TAG, "receive buffer overrun");
+    clear_rx_n_ovr_flags_();
+  }
+#endif
+
   return rc;
 }
 
diff --git a/esphome/components/mcp2515/mcp2515_defs.h b/esphome/components/mcp2515/mcp2515_defs.h
index 2f5cf2a238..b33adcbba6 100644
--- a/esphome/components/mcp2515/mcp2515_defs.h
+++ b/esphome/components/mcp2515/mcp2515_defs.h
@@ -130,7 +130,9 @@ static const uint8_t CANSTAT_ICOD = 0x0E;
 
 static const uint8_t CNF3_SOF = 0x80;
 
-static const uint8_t TXB_EXIDE_MASK = 0x08;
+// applies to RXBn_SIDL, TXBn_SIDL and RXFn_SIDL
+static const uint8_t SIDL_EXIDE_MASK = 0x08;
+
 static const uint8_t DLC_MASK = 0x0F;
 static const uint8_t RTR_MASK = 0x40;