diff --git a/esphome/components/esp32_touch/esp32_touch_v1.cpp b/esphome/components/esp32_touch/esp32_touch_v1.cpp
index b5e8e2c0c9..6cdfe5e43a 100644
--- a/esphome/components/esp32_touch/esp32_touch_v1.cpp
+++ b/esphome/components/esp32_touch/esp32_touch_v1.cpp
@@ -179,7 +179,7 @@ void ESP32TouchComponent::loop() {
 void ESP32TouchComponent::on_shutdown() {
   touch_pad_intr_disable();
   touch_pad_isr_deregister(touch_isr_handler, this);
-  this->cleanup_touch_queue();
+  this->cleanup_touch_queue_();
 
   if (this->iir_filter_enabled_()) {
     touch_pad_filter_stop();
diff --git a/esphome/components/esp32_touch/esp32_touch_v2.cpp b/esphome/components/esp32_touch/esp32_touch_v2.cpp
index d5c7b9db9b..9e7c219ca4 100644
--- a/esphome/components/esp32_touch/esp32_touch_v2.cpp
+++ b/esphome/components/esp32_touch/esp32_touch_v2.cpp
@@ -76,7 +76,7 @@ void ESP32TouchComponent::setup() {
       touch_pad_isr_register(touch_isr_handler, this, static_cast<touch_pad_intr_mask_t>(TOUCH_PAD_INTR_MASK_ALL));
   if (err != ESP_OK) {
     ESP_LOGE(TAG, "Failed to register touch ISR: %s", esp_err_to_name(err));
-    this->cleanup_touch_queue();
+    this->cleanup_touch_queue_();
     this->mark_failed();
     return;
   }
@@ -299,7 +299,7 @@ void ESP32TouchComponent::on_shutdown() {
   touch_pad_intr_disable(static_cast<touch_pad_intr_mask_t>(TOUCH_PAD_INTR_MASK_ACTIVE | TOUCH_PAD_INTR_MASK_INACTIVE |
                                                             TOUCH_PAD_INTR_MASK_TIMEOUT));
   touch_pad_isr_deregister(touch_isr_handler, this);
-  this->cleanup_touch_queue();
+  this->cleanup_touch_queue_();
 
   // Configure wakeup pads if any are set
   this->configure_wakeup_pads();