diff --git a/esphome/components/rp2040_pwm/rp2040_pwm.cpp b/esphome/components/rp2040_pwm/rp2040_pwm.cpp
index bf2a446edf..3f95125578 100644
--- a/esphome/components/rp2040_pwm/rp2040_pwm.cpp
+++ b/esphome/components/rp2040_pwm/rp2040_pwm.cpp
@@ -6,7 +6,9 @@
 #include "esphome/core/log.h"
 #include "esphome/core/macros.h"
 
-#include <PinNames.h>
+#include <hardware/clocks.h>
+#include <hardware/gpio.h>
+#include <hardware/pwm.h>
 
 namespace esphome {
 namespace rp2040_pwm {
@@ -15,10 +17,17 @@ static const char *const TAG = "rp2040_pwm";
 
 void RP2040PWM::setup() {
   ESP_LOGCONFIG(TAG, "Setting up RP2040 PWM Output...");
-  this->pin_->setup();
-  this->pwm_ = new mbed::PwmOut((PinName) this->pin_->get_pin());
-  this->turn_off();
+
+  this->setup_pwm_();
 }
+
+void RP2040PWM::setup_pwm_() {
+  pwm_config config = pwm_get_default_config();
+  pwm_config_set_clkdiv(&config, clock_get_hz(clk_sys) / (255.0f * this->frequency_));
+  pwm_config_set_wrap(&config, 254);
+  pwm_init(pwm_gpio_to_slice_num(this->pin_->get_pin()), &config, true);
+}
+
 void RP2040PWM::dump_config() {
   ESP_LOGCONFIG(TAG, "RP2040 PWM:");
   LOG_PIN("  Pin: ", this->pin_);
@@ -33,10 +42,13 @@ void HOT RP2040PWM::write_state(float state) {
     state = 1.0f - state;
   }
 
-  auto total_time_us = static_cast<uint32_t>(roundf(1e6f / this->frequency_));
+  if (frequency_changed_) {
+    this->setup_pwm_();
+    frequency_changed_ = false;
+  }
 
-  this->pwm_->period_us(total_time_us);
-  this->pwm_->write(state);
+  gpio_set_function(this->pin_->get_pin(), GPIO_FUNC_PWM);
+  pwm_set_gpio_level(this->pin_->get_pin(), state * 255.0f);
 }
 
 }  // namespace rp2040_pwm
diff --git a/esphome/components/rp2040_pwm/rp2040_pwm.h b/esphome/components/rp2040_pwm/rp2040_pwm.h
index e348f131c2..903079df17 100644
--- a/esphome/components/rp2040_pwm/rp2040_pwm.h
+++ b/esphome/components/rp2040_pwm/rp2040_pwm.h
@@ -7,11 +7,11 @@
 #include "esphome/core/component.h"
 #include "esphome/core/hal.h"
 
-#include "drivers/PwmOut.h"
-
 namespace esphome {
 namespace rp2040_pwm {
 
+static bool frequency_changed_ = false;
+
 class RP2040PWM : public output::FloatOutput, public Component {
  public:
   void set_pin(InternalGPIOPin *pin) { pin_ = pin; }
@@ -19,6 +19,7 @@ class RP2040PWM : public output::FloatOutput, public Component {
   /// Dynamically update frequency
   void update_frequency(float frequency) override {
     this->set_frequency(frequency);
+    frequency_changed_ = true;
     this->write_state(this->last_output_);
   }
 
@@ -31,8 +32,9 @@ class RP2040PWM : public output::FloatOutput, public Component {
  protected:
   void write_state(float state) override;
 
+  void setup_pwm_();
+
   InternalGPIOPin *pin_;
-  mbed::PwmOut *pwm_;
   float frequency_{1000.0};
   /// Cache last output level for dynamic frequency updating
   float last_output_{0.0};