diff --git a/esphome/components/esp32/__init__.py b/esphome/components/esp32/__init__.py
index 09eabe1fa7..68653d68ff 100644
--- a/esphome/components/esp32/__init__.py
+++ b/esphome/components/esp32/__init__.py
@@ -302,6 +302,8 @@ async def to_code(config):
         )
         add_idf_sdkconfig_option("CONFIG_COMPILER_OPTIMIZATION_DEFAULT", False)
         add_idf_sdkconfig_option("CONFIG_COMPILER_OPTIMIZATION_SIZE", True)
+        # Increase freertos tick speed from 100Hz to 1kHz so that delay() resolution is 1ms
+        add_idf_sdkconfig_option("CONFIG_FREERTOS_HZ", 1000)
 
         cg.add_platformio_option("board_build.partitions", "partitions.csv")
 
diff --git a/sdkconfig.defaults b/sdkconfig.defaults
index 6b2d6f8f2e..26db4705b8 100644
--- a/sdkconfig.defaults
+++ b/sdkconfig.defaults
@@ -8,6 +8,7 @@ CONFIG_COMPILER_OPTIMIZATION_SIZE=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 #CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_SINGLE_APP=n
+CONFIG_FREERTOS_HZ=1000
 
 # esp32_ble
 CONFIG_BT_ENABLED=y