diff --git a/esphome/components/binary_sensor/__init__.py b/esphome/components/binary_sensor/__init__.py
index babe46e082..2f788d7103 100644
--- a/esphome/components/binary_sensor/__init__.py
+++ b/esphome/components/binary_sensor/__init__.py
@@ -141,6 +141,7 @@ DelayedOffFilter = binary_sensor_ns.class_("DelayedOffFilter", Filter, cg.Compon
 InvertFilter = binary_sensor_ns.class_("InvertFilter", Filter)
 AutorepeatFilter = binary_sensor_ns.class_("AutorepeatFilter", Filter, cg.Component)
 LambdaFilter = binary_sensor_ns.class_("LambdaFilter", Filter)
+SettleFilter = binary_sensor_ns.class_("SettleFilter", Filter, cg.Component)
 
 FILTER_REGISTRY = Registry()
 validate_filters = cv.validate_registry("filter", FILTER_REGISTRY)
@@ -259,6 +260,19 @@ async def lambda_filter_to_code(config, filter_id):
     return cg.new_Pvariable(filter_id, lambda_)
 
 
+@register_filter(
+    "settle",
+    SettleFilter,
+    cv.templatable(cv.positive_time_period_milliseconds),
+)
+async def settle_filter_to_code(config, filter_id):
+    var = cg.new_Pvariable(filter_id)
+    await cg.register_component(var, {})
+    template_ = await cg.templatable(config, [], cg.uint32)
+    cg.add(var.set_delay(template_))
+    return var
+
+
 MULTI_CLICK_TIMING_SCHEMA = cv.Schema(
     {
         cv.Optional(CONF_STATE): cv.boolean,
diff --git a/esphome/components/binary_sensor/filter.cpp b/esphome/components/binary_sensor/filter.cpp
index 46957383c3..8f94b108ac 100644
--- a/esphome/components/binary_sensor/filter.cpp
+++ b/esphome/components/binary_sensor/filter.cpp
@@ -111,6 +111,23 @@ LambdaFilter::LambdaFilter(std::function<optional<bool>(bool)> f) : f_(std::move
 
 optional<bool> LambdaFilter::new_value(bool value, bool is_initial) { return this->f_(value); }
 
+optional<bool> SettleFilter::new_value(bool value, bool is_initial) {
+  if (!this->steady_) {
+    this->set_timeout("SETTLE", this->delay_.value(), [this, value, is_initial]() {
+      this->steady_ = true;
+      this->output(value, is_initial);
+    });
+    return {};
+  } else {
+    this->steady_ = false;
+    this->output(value, is_initial);
+    this->set_timeout("SETTLE", this->delay_.value(), [this]() { this->steady_ = true; });
+    return value;
+  }
+}
+
+float SettleFilter::get_setup_priority() const { return setup_priority::HARDWARE; }
+
 }  // namespace binary_sensor
 
 }  // namespace esphome
diff --git a/esphome/components/binary_sensor/filter.h b/esphome/components/binary_sensor/filter.h
index 9514cb3fe2..f7342db2fb 100644
--- a/esphome/components/binary_sensor/filter.h
+++ b/esphome/components/binary_sensor/filter.h
@@ -108,6 +108,19 @@ class LambdaFilter : public Filter {
   std::function<optional<bool>(bool)> f_;
 };
 
+class SettleFilter : public Filter, public Component {
+ public:
+  optional<bool> new_value(bool value, bool is_initial) override;
+
+  float get_setup_priority() const override;
+
+  template<typename T> void set_delay(T delay) { this->delay_ = delay; }
+
+ protected:
+  TemplatableValue<uint32_t> delay_{};
+  bool steady_{true};
+};
+
 }  // namespace binary_sensor
 
 }  // namespace esphome
diff --git a/tests/test1.yaml b/tests/test1.yaml
index eb72f90b21..720d4e8e82 100644
--- a/tests/test1.yaml
+++ b/tests/test1.yaml
@@ -1732,6 +1732,8 @@ binary_sensor:
       - delayed_on_off: !lambda "return 10;"
       - delayed_on: !lambda "return 1000;"
       - delayed_off: !lambda "return 0;"
+      - settle: 40ms
+      - settle: !lambda "return 10;"
     on_press:
       then:
         - lambda: >-