diff --git a/esphome/components/endstop/endstop_cover.cpp b/esphome/components/endstop/endstop_cover.cpp
index 67c6a4ebd3..f468d13492 100644
--- a/esphome/components/endstop/endstop_cover.cpp
+++ b/esphome/components/endstop/endstop_cover.cpp
@@ -12,6 +12,7 @@ using namespace esphome::cover;
 CoverTraits EndstopCover::get_traits() {
   auto traits = CoverTraits();
   traits.set_supports_position(true);
+  traits.set_supports_toggle(true);
   traits.set_is_assumed_state(false);
   return traits;
 }
@@ -20,6 +21,20 @@ void EndstopCover::control(const CoverCall &call) {
     this->start_direction_(COVER_OPERATION_IDLE);
     this->publish_state();
   }
+  if (call.get_toggle().has_value()) {
+    if (this->current_operation != COVER_OPERATION_IDLE) {
+      this->start_direction_(COVER_OPERATION_IDLE);
+      this->publish_state();
+    } else {
+      if (this->position == COVER_CLOSED || this->last_operation_ == COVER_OPERATION_CLOSING) {
+        this->target_position_ = COVER_OPEN;
+        this->start_direction_(COVER_OPERATION_OPENING);
+      } else {
+        this->target_position_ = COVER_CLOSED;
+        this->start_direction_(COVER_OPERATION_CLOSING);
+      }
+    }
+  }
   if (call.get_position().has_value()) {
     auto pos = *call.get_position();
     if (pos == this->position) {
@@ -125,9 +140,11 @@ void EndstopCover::start_direction_(CoverOperation dir) {
       trig = this->stop_trigger_;
       break;
     case COVER_OPERATION_OPENING:
+      this->last_operation_ = dir;
       trig = this->open_trigger_;
       break;
     case COVER_OPERATION_CLOSING:
+      this->last_operation_ = dir;
       trig = this->close_trigger_;
       break;
     default:
diff --git a/esphome/components/endstop/endstop_cover.h b/esphome/components/endstop/endstop_cover.h
index f8d2746234..6ae15de8c1 100644
--- a/esphome/components/endstop/endstop_cover.h
+++ b/esphome/components/endstop/endstop_cover.h
@@ -51,6 +51,7 @@ class EndstopCover : public cover::Cover, public Component {
   uint32_t start_dir_time_{0};
   uint32_t last_publish_time_{0};
   float target_position_{0};
+  cover::CoverOperation last_operation_{cover::COVER_OPERATION_OPENING};
 };
 
 }  // namespace endstop
diff --git a/tests/test3.yaml b/tests/test3.yaml
index 853d7bd389..f0975f9918 100644
--- a/tests/test3.yaml
+++ b/tests/test3.yaml
@@ -795,6 +795,7 @@ binary_sensor:
     on_press:
       then:
         - cover.toggle: time_based_cover
+        - cover.toggle: endstop_cover
   - platform: template
     id: 'pzemac_reset_energy'
     on_press:
@@ -1060,6 +1061,7 @@ climate:
 cover:
   - platform: endstop
     name: Endstop Cover
+    id: endstop_cover
     stop_action:
       - switch.turn_on: gpio_switch1
     open_endstop: my_binary_sensor