diff --git a/esphome/components/esp32_touch/esp32_touch.cpp b/esphome/components/esp32_touch/esp32_touch.cpp
index e43c3b844c..0ae414fa12 100644
--- a/esphome/components/esp32_touch/esp32_touch.cpp
+++ b/esphome/components/esp32_touch/esp32_touch.cpp
@@ -52,7 +52,12 @@ void ESP32TouchComponent::setup() {
   }
 #endif
 
+#if ESP_IDF_VERSION_MAJOR >= 5
+  touch_pad_set_measurement_clock_cycles(this->meas_cycle_);
+  touch_pad_set_measurement_interval(this->sleep_cycle_);
+#else
   touch_pad_set_meas_time(this->sleep_cycle_, this->meas_cycle_);
+#endif
   touch_pad_set_voltage(this->high_voltage_reference_, this->low_voltage_reference_, this->voltage_attenuation_);
 
   for (auto *child : this->children_) {