diff --git a/esphome/components/esp32_ble/ble_event.h b/esphome/components/esp32_ble/ble_event.h
index ae988f2a2a..af70d2f899 100644
--- a/esphome/components/esp32_ble/ble_event.h
+++ b/esphome/components/esp32_ble/ble_event.h
@@ -2,6 +2,7 @@
 
 #ifdef USE_ESP32
 
+#include <cstddef>  // for offsetof
 #include <vector>
 
 #include <esp_gap_ble_api.h>