diff --git a/esphome/components/esp32_ble/ble.cpp b/esphome/components/esp32_ble/ble.cpp
index 0ddeccec17..3ff2577bd5 100644
--- a/esphome/components/esp32_ble/ble.cpp
+++ b/esphome/components/esp32_ble/ble.cpp
@@ -360,11 +360,18 @@ void ESP32BLE::loop() {
   if (this->advertising_ != nullptr) {
     this->advertising_->loop();
   }
+
+  // Log dropped events periodically
+  size_t dropped = this->ble_events_.get_and_reset_dropped_count();
+  if (dropped > 0) {
+    ESP_LOGW(TAG, "Dropped %zu BLE events due to buffer overflow", dropped);
+  }
 }
 
 template<typename... Args> void enqueue_ble_event(Args... args) {
-  if (global_ble->ble_events_.size() >= MAX_BLE_QUEUE_SIZE) {
-    ESP_LOGD(TAG, "BLE event queue full (%zu), dropping event", MAX_BLE_QUEUE_SIZE);
+  // Check if buffer is full before allocating
+  if (global_ble->ble_events_.size() >= (SCAN_RESULT_BUFFER_SIZE * 2 - 1)) {
+    // Buffer is full, push will fail and increment dropped count internally
     return;
   }
 
@@ -374,6 +381,8 @@ template<typename... Args> void enqueue_ble_event(Args... args) {
     return;
   }
   new (new_event) BLEEvent(args...);
+
+  // With atomic size, this should never fail due to the size check above
   global_ble->ble_events_.push(new_event);
 }  // NOLINT(clang-analyzer-unix.Malloc)
 
diff --git a/esphome/components/esp32_ble/ble.h b/esphome/components/esp32_ble/ble.h
index 6508db1a00..5ee2ebae90 100644
--- a/esphome/components/esp32_ble/ble.h
+++ b/esphome/components/esp32_ble/ble.h
@@ -144,7 +144,7 @@ class ESP32BLE : public Component {
   std::vector<BLEStatusEventHandler *> ble_status_event_handlers_;
   BLEComponentState state_{BLE_COMPONENT_STATE_OFF};
 
-  Queue<BLEEvent> ble_events_;
+  LockFreeQueue<BLEEvent, SCAN_RESULT_BUFFER_SIZE * 2> ble_events_;
   BLEAdvertising *advertising_{};
   esp_ble_io_cap_t io_cap_{ESP_IO_CAP_NONE};
   uint32_t advertising_cycle_time_{};
diff --git a/esphome/components/esp32_ble/queue.h b/esphome/components/esp32_ble/queue.h
index f69878bf6e..09bc7c886c 100644
--- a/esphome/components/esp32_ble/queue.h
+++ b/esphome/components/esp32_ble/queue.h
@@ -2,63 +2,76 @@
 
 #ifdef USE_ESP32
 
-#include <mutex>
-#include <queue>
-
-#include <freertos/FreeRTOS.h>
-#include <freertos/semphr.h>
+#include <atomic>
+#include <cstddef>
 
 /*
  * BLE events come in from a separate Task (thread) in the ESP32 stack. Rather
- * than trying to deal with various locking strategies, all incoming GAP and GATT
- * events will simply be placed on a semaphore guarded queue. The next time the
- * component runs loop(), these events are popped off the queue and handed at
- * this safer time.
+ * than using mutex-based locking, this lock-free queue allows the BLE
+ * task to enqueue events without blocking. The main loop() then processes
+ * these events at a safer time.
+ *
+ * The queue uses atomic operations to ensure thread safety without locks.
+ * This prevents blocking the time-sensitive BLE stack callbacks.
  */
 
 namespace esphome {
 namespace esp32_ble {
 
-template<class T> class Queue {
+template<class T, size_t SIZE> class LockFreeQueue {
  public:
-  Queue() { m_ = xSemaphoreCreateMutex(); }
+  LockFreeQueue() : write_index_(0), read_index_(0), size_(0), dropped_count_(0) {}
 
-  void push(T *element) {
+  bool push(T *element) {
     if (element == nullptr)
-      return;
-    // It is not called from main loop. Thus it won't block main thread.
-    xSemaphoreTake(m_, portMAX_DELAY);
-    q_.push(element);
-    xSemaphoreGive(m_);
+      return false;
+
+    size_t current_size = size_.load(std::memory_order_acquire);
+    if (current_size >= SIZE - 1) {
+      // Buffer full, track dropped event
+      dropped_count_.fetch_add(1, std::memory_order_relaxed);
+      return false;
+    }
+
+    size_t write_idx = write_index_.load(std::memory_order_relaxed);
+    size_t next_write_idx = (write_idx + 1) % SIZE;
+
+    // Store element in buffer
+    buffer_[write_idx] = element;
+    write_index_.store(next_write_idx, std::memory_order_release);
+    size_.fetch_add(1, std::memory_order_release);
+    return true;
   }
 
   T *pop() {
-    T *element = nullptr;
-
-    if (xSemaphoreTake(m_, 5L / portTICK_PERIOD_MS)) {
-      if (!q_.empty()) {
-        element = q_.front();
-        q_.pop();
-      }
-      xSemaphoreGive(m_);
+    size_t current_size = size_.load(std::memory_order_acquire);
+    if (current_size == 0) {
+      return nullptr;
     }
+
+    size_t read_idx = read_index_.load(std::memory_order_relaxed);
+
+    // Get element from buffer
+    T *element = buffer_[read_idx];
+    read_index_.store((read_idx + 1) % SIZE, std::memory_order_release);
+    size_.fetch_sub(1, std::memory_order_release);
     return element;
   }
 
-  size_t size() const {
-    // Lock-free size check. While std::queue::size() is not thread-safe, we intentionally
-    // avoid locking here to prevent blocking the BLE callback thread. The size is only
-    // used to decide whether to drop incoming events when the queue is near capacity.
-    // With a queue limit of 40-64 events and normal processing, dropping events should
-    // be extremely rare. When it does approach capacity, being off by 1-2 events is
-    // acceptable to avoid blocking the BLE stack's time-sensitive callbacks.
-    // Trade-off: We prefer occasional dropped events over potential BLE stack delays.
-    return q_.size();
-  }
+  size_t size() const { return size_.load(std::memory_order_acquire); }
+
+  size_t get_and_reset_dropped_count() { return dropped_count_.exchange(0, std::memory_order_relaxed); }
+
+  void increment_dropped_count() { dropped_count_.fetch_add(1, std::memory_order_relaxed); }
+
+  bool empty() const { return size_.load(std::memory_order_acquire) == 0; }
 
  protected:
-  std::queue<T *> q_;
-  SemaphoreHandle_t m_;
+  T *buffer_[SIZE];
+  std::atomic<size_t> write_index_;
+  std::atomic<size_t> read_index_;
+  std::atomic<size_t> size_;
+  std::atomic<size_t> dropped_count_;
 };
 
 }  // namespace esp32_ble