diff --git a/esphome/components/zephyr/gpio.h b/esphome/components/zephyr/gpio.h
index c9540f4f01..94f25f02ac 100644
--- a/esphome/components/zephyr/gpio.h
+++ b/esphome/components/zephyr/gpio.h
@@ -2,7 +2,7 @@
 
 #ifdef USE_ZEPHYR
 #include "esphome/core/hal.h"
-struct device;
+#include <zephyr/device.h>
 namespace esphome {
 namespace zephyr {