diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index 8885f2efe1..254eddd1d9 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -430,14 +430,7 @@ void ESP32BLETracker::gap_scan_event_handler(const BLEScanResult &scan_result) {
       }
     }
     // Scan completed naturally, perform cleanup and transition to IDLE
-    ESP_LOGD(TAG, "Scan completed, set scanner state to IDLE.");
-    this->already_discovered_.clear();
-    this->cancel_timeout("scan");
-
-    for (auto *listener : this->listeners_)
-      listener->on_scan_end();
-
-    this->set_scanner_state_(ScannerState::IDLE);
+    this->cleanup_scan_state_(false);
   }
 }
 
@@ -494,14 +487,7 @@ void ESP32BLETracker::gap_scan_stop_complete_(const esp_ble_gap_cb_param_t::ble_
   }
 
   // Perform cleanup and transition to IDLE
-  ESP_LOGD(TAG, "Scan stop complete, set scanner state to IDLE.");
-  this->already_discovered_.clear();
-  this->cancel_timeout("scan");
-
-  for (auto *listener : this->listeners_)
-    listener->on_scan_end();
-
-  this->set_scanner_state_(ScannerState::IDLE);
+  this->cleanup_scan_state_(true);
 }
 
 void ESP32BLETracker::gattc_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if,
@@ -875,6 +861,17 @@ bool ESPBTDevice::resolve_irk(const uint8_t *irk) const {
 }
 #endif  // USE_ESP32_BLE_DEVICE
 
+void ESP32BLETracker::cleanup_scan_state_(bool is_stop_complete) {
+  ESP_LOGD(TAG, "Scan %scomplete, set scanner state to IDLE.", is_stop_complete ? "stop " : "");
+  this->already_discovered_.clear();
+  this->cancel_timeout("scan");
+
+  for (auto *listener : this->listeners_)
+    listener->on_scan_end();
+
+  this->set_scanner_state_(ScannerState::IDLE);
+}
+
 }  // namespace esphome::esp32_ble_tracker
 
 #endif  // USE_ESP32
diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
index a2edb24cef..c274e64b12 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
@@ -270,6 +270,8 @@ class ESP32BLETracker : public Component,
   void gap_scan_stop_complete_(const esp_ble_gap_cb_param_t::ble_scan_stop_cmpl_evt_param &param);
   /// Called to set the scanner state. Will also call callbacks to let listeners know when state is changed.
   void set_scanner_state_(ScannerState state);
+  /// Common cleanup logic when transitioning scanner to IDLE state
+  void cleanup_scan_state_(bool is_stop_complete);
 
   uint8_t app_id_{0};