diff --git a/esphome/components/mdns/__init__.py b/esphome/components/mdns/__init__.py
index b5be153d5a..154e6b099f 100644
--- a/esphome/components/mdns/__init__.py
+++ b/esphome/components/mdns/__init__.py
@@ -36,6 +36,8 @@ async def to_code(config):
             cg.add_library("ESPmDNS", None)
         elif CORE.is_esp8266:
             cg.add_library("ESP8266mDNS", None)
+        elif CORE.is_rp2040:
+            cg.add_library("LEAmDNS", None)
 
     if config[CONF_DISABLED]:
         return
diff --git a/esphome/components/mdns/mdns_component.h b/esphome/components/mdns/mdns_component.h
index 45614d509a..dbf7482f1f 100644
--- a/esphome/components/mdns/mdns_component.h
+++ b/esphome/components/mdns/mdns_component.h
@@ -28,7 +28,7 @@ class MDNSComponent : public Component {
   void setup() override;
   void dump_config() override;
 
-#if defined(USE_ESP8266) && defined(USE_ARDUINO)
+#if (defined(USE_ESP8266) || defined(USE_RP2040)) && defined(USE_ARDUINO)
   void loop() override;
 #endif
   float get_setup_priority() const override { return setup_priority::AFTER_WIFI; }
diff --git a/esphome/components/mdns/mdns_rp2040.cpp b/esphome/components/mdns/mdns_rp2040.cpp
index b153ececcc..e443a78c48 100644
--- a/esphome/components/mdns/mdns_rp2040.cpp
+++ b/esphome/components/mdns/mdns_rp2040.cpp
@@ -5,6 +5,8 @@
 #include "esphome/core/log.h"
 #include "mdns_component.h"
 
+#include <ESP8266mDNS.h>
+
 namespace esphome {
 namespace mdns {
 
@@ -12,28 +14,30 @@ void MDNSComponent::setup() {
   this->compile_records_();
 
   network::IPAddress addr = network::get_ip_address();
-  // MDNS.begin(this->hostname_.c_str(), (uint32_t) addr);
+  MDNS.begin(this->hostname_.c_str(), (uint32_t) addr);
 
-  // for (const auto &service : this->services_) {
-  //   // Strip the leading underscore from the proto and service_type. While it is
-  //   // part of the wire protocol to have an underscore, and for example ESP-IDF
-  //   // expects the underscore to be there, the ESP8266 implementation always adds
-  //   // the underscore itself.
-  //   auto *proto = service.proto.c_str();
-  //   while (*proto == '_') {
-  //     proto++;
-  //   }
-  //   auto *service_type = service.service_type.c_str();
-  //   while (*service_type == '_') {
-  //     service_type++;
-  //   }
-  //   MDNS.addService(service_type, proto, service.port);
-  //   for (const auto &record : service.txt_records) {
-  //     MDNS.addServiceTxt(service_type, proto, record.key.c_str(), record.value.c_str());
-  //   }
-  // }
+  for (const auto &service : this->services_) {
+    // Strip the leading underscore from the proto and service_type. While it is
+    // part of the wire protocol to have an underscore, and for example ESP-IDF
+    // expects the underscore to be there, the ESP8266 implementation always adds
+    // the underscore itself.
+    auto *proto = service.proto.c_str();
+    while (*proto == '_') {
+      proto++;
+    }
+    auto *service_type = service.service_type.c_str();
+    while (*service_type == '_') {
+      service_type++;
+    }
+    MDNS.addService(service_type, proto, service.port);
+    for (const auto &record : service.txt_records) {
+      MDNS.addServiceTxt(service_type, proto, record.key.c_str(), record.value.c_str());
+    }
+  }
 }
 
+void MDNSComponent::loop() { MDNS.update(); }
+
 }  // namespace mdns
 }  // namespace esphome