diff --git a/CODEOWNERS b/CODEOWNERS
index ca1da2f153..9cfa81b36c 100644
--- a/CODEOWNERS
+++ b/CODEOWNERS
@@ -113,6 +113,7 @@ esphome/components/ina260/* @MrEditor97
 esphome/components/inkbird_ibsth1_mini/* @fkirill
 esphome/components/inkplate6/* @jesserockz
 esphome/components/integration/* @OttoWinter
+esphome/components/internal_temperature/* @Mat931
 esphome/components/interval/* @esphome/core
 esphome/components/json/* @OttoWinter
 esphome/components/kalman_combinator/* @Cat-Ion
diff --git a/esphome/components/internal_temperature/__init__.py b/esphome/components/internal_temperature/__init__.py
new file mode 100644
index 0000000000..9433ade13f
--- /dev/null
+++ b/esphome/components/internal_temperature/__init__.py
@@ -0,0 +1 @@
+CODEOWNERS = ["@Mat931"]
diff --git a/esphome/components/internal_temperature/internal_temperature.cpp b/esphome/components/internal_temperature/internal_temperature.cpp
new file mode 100644
index 0000000000..9a22a77f63
--- /dev/null
+++ b/esphome/components/internal_temperature/internal_temperature.cpp
@@ -0,0 +1,58 @@
+#include "internal_temperature.h"
+#include "esphome/core/log.h"
+
+#ifdef USE_ESP32
+#if defined(USE_ESP32_VARIANT_ESP32)
+// there is no official API available on the original ESP32
+extern "C" {
+uint8_t temprature_sens_read();
+}
+#elif defined(USE_ESP32_VARIANT_ESP32C3) || defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
+#include "driver/temp_sensor.h"
+#endif  // USE_ESP32_VARIANT
+#endif  // USE_ESP32
+#ifdef USE_RP2040
+#include "Arduino.h"
+#endif  // USE_RP2040
+
+namespace esphome {
+namespace internal_temperature {
+
+static const char *const TAG = "internal_temperature";
+
+void InternalTemperatureSensor::update() {
+  float temperature = NAN;
+  bool success = false;
+#ifdef USE_ESP32
+#if defined(USE_ESP32_VARIANT_ESP32)
+  uint8_t raw = temprature_sens_read();
+  ESP_LOGV(TAG, "Raw temperature value: %d", raw);
+  temperature = (raw - 32) / 1.8f;
+  success = (raw != 128);
+#elif defined(USE_ESP32_VARIANT_ESP32C3) || defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
+  temp_sensor_config_t tsens = TSENS_CONFIG_DEFAULT();
+  temp_sensor_set_config(tsens);
+  temp_sensor_start();
+  esp_err_t result = temp_sensor_read_celsius(&temperature);
+  temp_sensor_stop();
+  success = (result == ESP_OK);
+#endif  // USE_ESP32_VARIANT
+#endif  // USE_ESP32
+#ifdef USE_RP2040
+  temperature = analogReadTemp();
+  success = (temperature != 0.0f);
+#endif  // USE_RP2040
+  if (success && std::isfinite(temperature)) {
+    this->publish_state(temperature);
+  } else {
+    ESP_LOGD(TAG, "Ignoring invalid temperature (success=%d, value=%.1f)", success, temperature);
+    if (!this->has_state()) {
+      this->publish_state(NAN);
+    }
+  }
+}
+
+void InternalTemperatureSensor::dump_config() { LOG_SENSOR("", "Internal Temperature Sensor", this); }
+
+}  // namespace internal_temperature
+}  // namespace esphome
diff --git a/esphome/components/internal_temperature/internal_temperature.h b/esphome/components/internal_temperature/internal_temperature.h
new file mode 100644
index 0000000000..0e46a69769
--- /dev/null
+++ b/esphome/components/internal_temperature/internal_temperature.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include "esphome/core/component.h"
+#include "esphome/components/sensor/sensor.h"
+
+namespace esphome {
+namespace internal_temperature {
+
+class InternalTemperatureSensor : public sensor::Sensor, public PollingComponent {
+ public:
+  void dump_config() override;
+
+  void update() override;
+};
+
+}  // namespace internal_temperature
+}  // namespace esphome
diff --git a/esphome/components/internal_temperature/sensor.py b/esphome/components/internal_temperature/sensor.py
new file mode 100644
index 0000000000..2655711bb5
--- /dev/null
+++ b/esphome/components/internal_temperature/sensor.py
@@ -0,0 +1,31 @@
+import esphome.codegen as cg
+import esphome.config_validation as cv
+from esphome.components import sensor
+from esphome.const import (
+    STATE_CLASS_MEASUREMENT,
+    UNIT_CELSIUS,
+    DEVICE_CLASS_TEMPERATURE,
+    ENTITY_CATEGORY_DIAGNOSTIC,
+)
+
+internal_temperature_ns = cg.esphome_ns.namespace("internal_temperature")
+InternalTemperatureSensor = internal_temperature_ns.class_(
+    "InternalTemperatureSensor", sensor.Sensor, cg.PollingComponent
+)
+
+CONFIG_SCHEMA = cv.All(
+    sensor.sensor_schema(
+        InternalTemperatureSensor,
+        unit_of_measurement=UNIT_CELSIUS,
+        accuracy_decimals=1,
+        device_class=DEVICE_CLASS_TEMPERATURE,
+        state_class=STATE_CLASS_MEASUREMENT,
+        entity_category=ENTITY_CATEGORY_DIAGNOSTIC,
+    ).extend(cv.polling_component_schema("60s")),
+    cv.only_on(["esp32", "rp2040"]),
+)
+
+
+async def to_code(config):
+    var = await sensor.new_sensor(config)
+    await cg.register_component(var, config)
diff --git a/tests/test1.yaml b/tests/test1.yaml
index a77f8802b9..bdc6da3406 100644
--- a/tests/test1.yaml
+++ b/tests/test1.yaml
@@ -324,6 +324,8 @@ mcp23s17:
     deviceaddress: 1
 
 sensor:
+  - platform: internal_temperature
+    name: "Internal Temperature"
   - platform: ble_client
     type: characteristic
     ble_client_id: ble_foo
diff --git a/tests/test5.yaml b/tests/test5.yaml
index 5f72579d08..21419692e4 100644
--- a/tests/test5.yaml
+++ b/tests/test5.yaml
@@ -373,6 +373,8 @@ select:
       "Three": 3
 
 sensor:
+  - platform: internal_temperature
+    name: "Internal Temperature"
   - platform: selec_meter
     total_active_energy:
       name: SelecEM2M Total Active Energy
diff --git a/tests/test6.yaml b/tests/test6.yaml
index 264773331e..2930400e34 100644
--- a/tests/test6.yaml
+++ b/tests/test6.yaml
@@ -37,3 +37,7 @@ switch:
   - platform: output
     output: pin_4
     id: pin_4_switch
+
+sensor:
+  - platform: internal_temperature
+    name: "Internal Temperature"