diff --git a/esphome/components/rf_bridge/rf_bridge.cpp b/esphome/components/rf_bridge/rf_bridge.cpp
index f1537cdc87..42689ecf82 100644
--- a/esphome/components/rf_bridge/rf_bridge.cpp
+++ b/esphome/components/rf_bridge/rf_bridge.cpp
@@ -15,59 +15,74 @@ void RFBridgeComponent::ack_() {
   this->flush();
 }
 
-void RFBridgeComponent::decode_() {
-  uint8_t action = uartbuf_[0];
-  RFBridgeData data{};
+bool RFBridgeComponent::parse_bridge_byte_(uint8_t byte) {
+  size_t at = this->rx_buffer_.size();
+  this->rx_buffer_.push_back(byte);
+  const uint8_t *raw = &this->rx_buffer_[0];
+
+  // Byte 0: Start
+  if (at == 0)
+    return byte == RF_CODE_START;
+
+  // Byte 1: Action
+  if (at == 1)
+    return byte >= RF_CODE_ACK && byte <= RF_CODE_RFOUT;
+  uint8_t action = raw[1];
 
   switch (action) {
     case RF_CODE_ACK:
       ESP_LOGD(TAG, "Action OK");
       break;
     case RF_CODE_LEARN_KO:
-      this->ack_();
-      ESP_LOGD(TAG, "Learn timeout");
+      ESP_LOGD(TAG, "Learning timeout");
       break;
     case RF_CODE_LEARN_OK:
-      ESP_LOGD(TAG, "Learn started");
     case RF_CODE_RFIN:
-      this->ack_();
+      if (at < RF_MESSAGE_SIZE + 2)
+        return true;
 
-      data.sync = (uartbuf_[1] << 8) | uartbuf_[2];
-      data.low = (uartbuf_[3] << 8) | uartbuf_[4];
-      data.high = (uartbuf_[5] << 8) | uartbuf_[6];
-      data.code = (uartbuf_[7] << 16) | (uartbuf_[8] << 8) | uartbuf_[9];
+      RFBridgeData data;
+      data.sync = (raw[2] << 8) | raw[3];
+      data.low = (raw[4] << 8) | raw[5];
+      data.high = (raw[6] << 8) | raw[7];
+      data.code = (raw[8] << 16) | (raw[9] << 8) | raw[10];
+
+      if (action == RF_CODE_LEARN_OK)
+        ESP_LOGD(TAG, "Learning success");
 
       ESP_LOGD(TAG, "Received RFBridge Code: sync=0x%04X low=0x%04X high=0x%04X code=0x%06X", data.sync, data.low,
                data.high, data.code);
       this->callback_.call(data);
       break;
     default:
-      ESP_LOGD(TAG, "Unknown action: 0x%02X", action);
+      ESP_LOGW(TAG, "Unknown action: 0x%02X", action);
       break;
   }
-  this->last_ = millis();
+
+  ESP_LOGVV(TAG, "Parsed: 0x%02X", byte);
+
+  if (byte == RF_CODE_STOP && action != RF_CODE_ACK)
+    this->ack_();
+
+  // return false to reset buffer
+  return false;
 }
 
 void RFBridgeComponent::loop() {
-  bool receiving = false;
-  if (this->last_ != 0 && millis() - this->last_ > RF_DEBOUNCE) {
-    this->last_ = 0;
+  const uint32_t now = millis();
+  if (now - this->last_bridge_byte_ > 50) {
+    this->rx_buffer_.clear();
+    this->last_bridge_byte_ = now;
   }
 
   while (this->available()) {
-    uint8_t c = this->read();
-    if (receiving) {
-      if (c == RF_CODE_STOP && (this->uartpos_ == 1 || this->uartpos_ == RF_MESSAGE_SIZE + 1)) {
-        this->decode_();
-        receiving = false;
-      } else if (this->uartpos_ <= RF_MESSAGE_SIZE) {
-        this->uartbuf_[uartpos_++] = c;
-      } else {
-        receiving = false;
-      }
-    } else if (c == RF_CODE_START) {
-      this->uartpos_ = 0;
-      receiving = true;
+    uint8_t byte;
+    this->read_byte(&byte);
+    if (this->parse_bridge_byte_(byte)) {
+      ESP_LOGVV(TAG, "Parsed: 0x%02X", byte);
+      this->last_bridge_byte_ = now;
+    } else {
+      this->rx_buffer_.clear();
     }
   }
 }
@@ -77,11 +92,17 @@ void RFBridgeComponent::send_code(RFBridgeData data) {
            data.code);
   this->write(RF_CODE_START);
   this->write(RF_CODE_RFOUT);
-  this->write(data.sync);
-  this->write(data.low);
-  this->write(data.high);
-  this->write(data.code);
+  this->write((data.sync >> 8) & 0xFF);
+  this->write(data.sync & 0xFF);
+  this->write((data.low >> 8) & 0xFF);
+  this->write(data.low & 0xFF);
+  this->write((data.high >> 8) & 0xFF);
+  this->write(data.high & 0xFF);
+  this->write((data.code >> 16) & 0xFF);
+  this->write((data.code >> 8) & 0xFF);
+  this->write(data.code & 0xFF);
   this->write(RF_CODE_STOP);
+  this->flush();
 }
 
 void RFBridgeComponent::learn() {
@@ -89,6 +110,7 @@ void RFBridgeComponent::learn() {
   this->write(RF_CODE_START);
   this->write(RF_CODE_LEARN);
   this->write(RF_CODE_STOP);
+  this->flush();
 }
 
 void RFBridgeComponent::dump_config() {
diff --git a/esphome/components/rf_bridge/rf_bridge.h b/esphome/components/rf_bridge/rf_bridge.h
index 86713b8a5c..7ae84a032f 100644
--- a/esphome/components/rf_bridge/rf_bridge.h
+++ b/esphome/components/rf_bridge/rf_bridge.h
@@ -45,10 +45,10 @@ class RFBridgeComponent : public uart::UARTDevice, public Component {
  protected:
   void ack_();
   void decode_();
+  bool parse_bridge_byte_(uint8_t byte);
 
-  unsigned long last_ = 0;
-  unsigned char uartbuf_[RF_MESSAGE_SIZE + 3] = {0};
-  unsigned char uartpos_ = 0;
+  std::vector<uint8_t> rx_buffer_;
+  uint32_t last_bridge_byte_{0};
 
   CallbackManager<void(RFBridgeData)> callback_;
 };