diff --git a/esphome/components/uart/uart_component_esp32_arduino.cpp b/esphome/components/uart/uart_component_esp32_arduino.cpp
index 8bbbc1a650..7306dd2f31 100644
--- a/esphome/components/uart/uart_component_esp32_arduino.cpp
+++ b/esphome/components/uart/uart_component_esp32_arduino.cpp
@@ -86,10 +86,26 @@ void ESP32ArduinoUARTComponent::setup() {
   is_default_tx = tx_pin_ == nullptr || tx_pin_->get_pin() == 1;
   is_default_rx = rx_pin_ == nullptr || rx_pin_->get_pin() == 3;
 #endif
-  if (is_default_tx && is_default_rx) {
+  static uint8_t next_uart_num = 0;
+  if (is_default_tx && is_default_rx && next_uart_num == 0) {
     this->hw_serial_ = &Serial;
+    next_uart_num++;
   } else {
-    static uint8_t next_uart_num = 1;
+#ifdef USE_LOGGER
+    // The logger doesn't use this UART component, instead it targets the UARTs
+    // directly (i.e. Serial/Serial0, Serial1, and Serial2). If the logger is
+    // enabled, skip the UART that it is configured to use.
+    if (logger::global_logger->get_baud_rate() > 0 && logger::global_logger->get_uart() == next_uart_num) {
+      next_uart_num++;
+    }
+#endif  // USE_LOGGER
+
+    if (next_uart_num >= UART_NUM_MAX) {
+      ESP_LOGW(TAG, "Maximum number of UART components created already.");
+      this->mark_failed();
+      return;
+    }
+
     this->number_ = next_uart_num;
     this->hw_serial_ = new HardwareSerial(next_uart_num++);  // NOLINT(cppcoreguidelines-owning-memory)
   }
diff --git a/esphome/components/uart/uart_component_esp32_arduino.h b/esphome/components/uart/uart_component_esp32_arduino.h
index f85c709097..02dfd0531e 100644
--- a/esphome/components/uart/uart_component_esp32_arduino.h
+++ b/esphome/components/uart/uart_component_esp32_arduino.h
@@ -2,6 +2,7 @@
 
 #ifdef USE_ESP32_FRAMEWORK_ARDUINO
 
+#include <driver/uart.h>
 #include <HardwareSerial.h>
 #include <vector>
 #include "esphome/core/component.h"