diff --git a/esphome/components/esp32_ble_tracker/automation.h b/esphome/components/esp32_ble_tracker/automation.h
index c0e6eee138..784f2eaaa2 100644
--- a/esphome/components/esp32_ble_tracker/automation.h
+++ b/esphome/components/esp32_ble_tracker/automation.h
@@ -80,14 +80,17 @@ class BLEManufacturerDataAdvertiseTrigger : public Trigger<const adv_data_t &>,
   ESPBTUUID uuid_;
 };
 
+#endif  // USE_ESP32_BLE_DEVICE
+
 class BLEEndOfScanTrigger : public Trigger<>, public ESPBTDeviceListener {
  public:
   explicit BLEEndOfScanTrigger(ESP32BLETracker *parent) { parent->register_listener(this); }
 
+#ifdef USE_ESP32_BLE_DEVICE
   bool parse_device(const ESPBTDevice &device) override { return false; }
+#endif
   void on_scan_end() override { this->trigger(); }
 };
-#endif  // USE_ESP32_BLE_DEVICE
 
 template<typename... Ts> class ESP32BLEStartScanAction : public Action<Ts...> {
  public:
diff --git a/tests/components/esp32_ble_tracker/test-on-scan-end.esp32-idf.yaml b/tests/components/esp32_ble_tracker/test-on-scan-end.esp32-idf.yaml
new file mode 100644
index 0000000000..4e9849a540
--- /dev/null
+++ b/tests/components/esp32_ble_tracker/test-on-scan-end.esp32-idf.yaml
@@ -0,0 +1,3 @@
+esp32_ble_tracker:
+  on_scan_end:
+    - logger.log: "Scan ended!"