diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index 5fff9dbcad..760aac628a 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -176,9 +176,9 @@ void ESP32BLETracker::loop() {
       https://github.com/espressif/esp-idf/issues/6688
 
     */
-    if (!connecting && !disconnecting && xSemaphoreTake(this->scan_end_lock_, 0L)) {
+    if (!connecting && xSemaphoreTake(this->scan_end_lock_, 0L)) {
       if (this->scan_continuous_) {
-        if (!promote_to_connecting && !this->scan_start_failed_ && !this->scan_set_param_failed_) {
+        if (!disconnecting && !promote_to_connecting && !this->scan_start_failed_ && !this->scan_set_param_failed_) {
           this->start_scan_(false);
         } else {
           // We didn't start the scan, so we need to release the lock