diff --git a/esphome/components/udp/__init__.py b/esphome/components/udp/__init__.py
index 6b1e4f8ed8..69abf4b989 100644
--- a/esphome/components/udp/__init__.py
+++ b/esphome/components/udp/__init__.py
@@ -12,7 +12,7 @@ from esphome.components.packet_transport import (
 )
 import esphome.config_validation as cv
 from esphome.const import CONF_DATA, CONF_ID, CONF_PORT, CONF_TRIGGER_ID
-from esphome.core import Lambda
+from esphome.core import ID, Lambda
 from esphome.cpp_generator import ExpressionStatement, MockObj
 
 CODEOWNERS = ["@clydebarrow"]
@@ -158,5 +158,8 @@ async def udp_write_to_code(config, action_id, template_arg, args):
         templ = await cg.templatable(data, args, cg.std_vector.template(cg.uint8))
         cg.add(var.set_data_template(templ))
     else:
-        cg.add(var.set_data_static(data))
+        # Generate static array in flash to avoid RAM copy
+        arr_id = ID(f"{action_id}_data", is_declaration=True, type=cg.uint8)
+        arr = cg.static_const_array(arr_id, cg.ArrayInitializer(*data))
+        cg.add(var.set_data_static(arr, len(data)))
     return var
diff --git a/esphome/components/udp/automation.h b/esphome/components/udp/automation.h
index c5e5e2eae8..b66c2a9892 100644
--- a/esphome/components/udp/automation.h
+++ b/esphome/components/udp/automation.h
@@ -11,28 +11,33 @@ namespace udp {
 
 template<typename... Ts> class UDPWriteAction : public Action<Ts...>, public Parented<UDPComponent> {
  public:
-  void set_data_template(std::function<std::vector<uint8_t>(Ts...)> func) {
-    this->data_func_ = func;
-    this->static_ = false;
+  void set_data_template(std::vector<uint8_t> (*func)(Ts...)) {
+    this->data_.func = func;
+    this->len_ = -1;  // Sentinel value indicates template mode
   }
-  void set_data_static(const std::vector<uint8_t> &data) {
-    this->data_static_ = data;
-    this->static_ = true;
+
+  void set_data_static(const uint8_t *data, size_t len) {
+    this->data_.data = data;
+    this->len_ = len;  // Length >= 0 indicates static mode
   }
 
   void play(const Ts &...x) override {
-    if (this->static_) {
-      this->parent_->send_packet(this->data_static_);
+    if (this->len_ >= 0) {
+      // Static mode: pass pointer directly to send_packet(const uint8_t *, size_t)
+      this->parent_->send_packet(this->data_.data, static_cast<size_t>(this->len_));
     } else {
-      auto val = this->data_func_(x...);
+      // Template mode: call function and pass vector to send_packet(const std::vector<uint8_t> &)
+      auto val = this->data_.func(x...);
       this->parent_->send_packet(val);
     }
   }
 
  protected:
-  bool static_{false};
-  std::function<std::vector<uint8_t>(Ts...)> data_func_{};
-  std::vector<uint8_t> data_static_{};
+  ssize_t len_{-1};  // -1 = template mode, >=0 = static mode with length
+  union Data {
+    std::vector<uint8_t> (*func)(Ts...);  // Function pointer (stateless lambdas)
+    const uint8_t *data;                  // Pointer to static data in flash
+  } data_;
 };
 
 }  // namespace udp