diff --git a/esphome/components/esp32_ble/__init__.py b/esphome/components/esp32_ble/__init__.py
index 15afb22ab8..caa3934707 100644
--- a/esphome/components/esp32_ble/__init__.py
+++ b/esphome/components/esp32_ble/__init__.py
@@ -332,12 +332,15 @@ def final_validation(config):
 
     # Check if BLE Server is needed
     has_ble_server = "esp32_ble_server" in full_config
-    add_idf_sdkconfig_option("CONFIG_BT_GATTS_ENABLE", has_ble_server)
 
     # Check if BLE Client is needed (via esp32_ble_tracker or esp32_ble_client)
     has_ble_client = (
         "esp32_ble_tracker" in full_config or "esp32_ble_client" in full_config
     )
+
+    # ESP-IDF BLE stack requires GATT Server to be enabled when GATT Client is enabled
+    # This is an internal dependency in the Bluedroid stack (tested up to ESP-IDF 5.5.1)
+    add_idf_sdkconfig_option("CONFIG_BT_GATTS_ENABLE", has_ble_server or has_ble_client)
     add_idf_sdkconfig_option("CONFIG_BT_GATTC_ENABLE", has_ble_client)
 
     # Handle max_connections: check for deprecated location in esp32_ble_tracker