diff --git a/esphome/components/mdns/mdns_esp32.cpp b/esphome/components/mdns/mdns_esp32.cpp
index e6b43e59cb..3123f3b604 100644
--- a/esphome/components/mdns/mdns_esp32.cpp
+++ b/esphome/components/mdns/mdns_esp32.cpp
@@ -24,13 +24,14 @@ static void register_esp32(MDNSComponent *comp, StaticVector<MDNSService, MDNS_S
   mdns_instance_name_set(hostname);
 
   for (const auto &service : services) {
-    auto txt_records = std::make_unique<mdns_txt_item_t[]>(service.txt_records.size());
+    // Stack buffer for up to 16 txt records, heap fallback for more
+    SmallBufferWithHeapFallback<16, mdns_txt_item_t> txt_records(service.txt_records.size());
     for (size_t i = 0; i < service.txt_records.size(); i++) {
       const auto &record = service.txt_records[i];
       // key and value are either compile-time string literals in flash or pointers to dynamic_txt_values_
       // Both remain valid for the lifetime of this function, and ESP-IDF makes internal copies
-      txt_records[i].key = MDNS_STR_ARG(record.key);
-      txt_records[i].value = MDNS_STR_ARG(record.value);
+      txt_records.get()[i].key = MDNS_STR_ARG(record.key);
+      txt_records.get()[i].value = MDNS_STR_ARG(record.value);
     }
     uint16_t port = const_cast<TemplatableValue<uint16_t> &>(service.port).value();
     err = mdns_service_add(nullptr, MDNS_STR_ARG(service.service_type), MDNS_STR_ARG(service.proto), port,