diff --git a/esphome/components/esp32_ble_tracker/__init__.py b/esphome/components/esp32_ble_tracker/__init__.py
index 61f2cf26fb..5265928657 100644
--- a/esphome/components/esp32_ble_tracker/__init__.py
+++ b/esphome/components/esp32_ble_tracker/__init__.py
@@ -298,6 +298,12 @@ async def to_code(config):
         add_idf_sdkconfig_option(
             "CONFIG_BTDM_CTRL_BLE_MAX_CONN", config[CONF_MAX_CONNECTIONS]
         )
+        # CONFIG_BT_GATTC_NOTIF_REG_MAX controls the number of
+        # max notifications in 5.x, setting CONFIG_BT_ACL_CONNECTIONS
+        # is enough in 4.x
+        # https://github.com/esphome/issues/issues/6808
+        if CORE.data[KEY_CORE][KEY_FRAMEWORK_VERSION] >= cv.Version(5, 0, 0):
+            add_idf_sdkconfig_option("CONFIG_BT_GATTC_NOTIF_REG_MAX", 9)
 
     cg.add_define("USE_OTA_STATE_CALLBACK")  # To be notified when an OTA update starts
     cg.add_define("USE_ESP32_BLE_CLIENT")