diff --git a/esphome/components/sensor/__init__.py b/esphome/components/sensor/__init__.py
index 06b96171a7..caaffd9701 100644
--- a/esphome/components/sensor/__init__.py
+++ b/esphome/components/sensor/__init__.py
@@ -217,6 +217,7 @@ OffsetFilter = sensor_ns.class_("OffsetFilter", Filter)
 MultiplyFilter = sensor_ns.class_("MultiplyFilter", Filter)
 FilterOutValueFilter = sensor_ns.class_("FilterOutValueFilter", Filter)
 ThrottleFilter = sensor_ns.class_("ThrottleFilter", Filter)
+TimeoutFilter = sensor_ns.class_("TimeoutFilter", Filter, cg.Component)
 DebounceFilter = sensor_ns.class_("DebounceFilter", Filter, cg.Component)
 HeartbeatFilter = sensor_ns.class_("HeartbeatFilter", Filter, cg.Component)
 DeltaFilter = sensor_ns.class_("DeltaFilter", Filter)
@@ -536,6 +537,15 @@ async def heartbeat_filter_to_code(config, filter_id):
     return var
 
 
+@FILTER_REGISTRY.register(
+    "timeout", TimeoutFilter, cv.positive_time_period_milliseconds
+)
+async def timeout_filter_to_code(config, filter_id):
+    var = cg.new_Pvariable(filter_id, config)
+    await cg.register_component(var, {})
+    return var
+
+
 @FILTER_REGISTRY.register(
     "debounce", DebounceFilter, cv.positive_time_period_milliseconds
 )
diff --git a/esphome/components/sensor/filter.cpp b/esphome/components/sensor/filter.cpp
index 472649ebdc..ccefa556b6 100644
--- a/esphome/components/sensor/filter.cpp
+++ b/esphome/components/sensor/filter.cpp
@@ -373,6 +373,17 @@ void OrFilter::initialize(Sensor *parent, Filter *next) {
   this->phi_.initialize(parent, nullptr);
 }
 
+// TimeoutFilter
+optional<float> TimeoutFilter::new_value(float value) {
+  this->set_timeout("timeout", this->time_period_, [this]() { this->output(NAN); });
+  this->output(value);
+
+  return {};
+}
+
+TimeoutFilter::TimeoutFilter(uint32_t time_period) : time_period_(time_period) {}
+float TimeoutFilter::get_setup_priority() const { return setup_priority::HARDWARE; }
+
 // DebounceFilter
 optional<float> DebounceFilter::new_value(float value) {
   this->set_timeout("debounce", this->time_period_, [this, value]() { this->output(value); });
diff --git a/esphome/components/sensor/filter.h b/esphome/components/sensor/filter.h
index 05934a26e8..296990f34f 100644
--- a/esphome/components/sensor/filter.h
+++ b/esphome/components/sensor/filter.h
@@ -313,6 +313,18 @@ class ThrottleFilter : public Filter {
   uint32_t min_time_between_inputs_;
 };
 
+class TimeoutFilter : public Filter, public Component {
+ public:
+  explicit TimeoutFilter(uint32_t time_period);
+
+  optional<float> new_value(float value) override;
+
+  float get_setup_priority() const override;
+
+ protected:
+  uint32_t time_period_;
+};
+
 class DebounceFilter : public Filter, public Component {
  public:
   explicit DebounceFilter(uint32_t time_period);
diff --git a/tests/test3.1.yaml b/tests/test3.1.yaml
index 5f1d3ff28f..104f4bbda8 100644
--- a/tests/test3.1.yaml
+++ b/tests/test3.1.yaml
@@ -86,6 +86,7 @@ sensor:
       - delta: 100
       - throttle: 100ms
       - debounce: 500s
+      - timeout: 10min
       - calibrate_linear:
           - 0 -> 0
           - 100 -> 100