diff --git a/esphome/components/mdns/mdns_esp32.cpp b/esphome/components/mdns/mdns_esp32.cpp
index 170a05a90e..c02bfcbadb 100644
--- a/esphome/components/mdns/mdns_esp32.cpp
+++ b/esphome/components/mdns/mdns_esp32.cpp
@@ -31,19 +31,17 @@ void MDNSComponent::setup() {
   mdns_instance_name_set(this->hostname_.c_str());
 
   for (const auto &service : services) {
-    FixedVector<mdns_txt_item_t> txt_records;
-    txt_records.init(service.txt_records.size());
-    for (const auto &record : service.txt_records) {
-      mdns_txt_item_t it{};
+    auto txt_records = std::make_unique<mdns_txt_item_t[]>(service.txt_records.size());
+    for (size_t i = 0; i < service.txt_records.size(); i++) {
+      const auto &record = service.txt_records[i];
       // key and value are either compile-time string literals in flash or pointers to dynamic_txt_values_
       // Both remain valid for the lifetime of this function, and ESP-IDF makes internal copies
-      it.key = MDNS_STR_ARG(record.key);
-      it.value = MDNS_STR_ARG(record.value);
-      txt_records.push_back(it);
+      txt_records[i].key = MDNS_STR_ARG(record.key);
+      txt_records[i].value = MDNS_STR_ARG(record.value);
     }
     uint16_t port = const_cast<TemplatableValue<uint16_t> &>(service.port).value();
     err = mdns_service_add(nullptr, MDNS_STR_ARG(service.service_type), MDNS_STR_ARG(service.proto), port,
-                           txt_records.begin(), txt_records.size());
+                           txt_records.get(), service.txt_records.size());
 
     if (err != ESP_OK) {
       ESP_LOGW(TAG, "Failed to register service %s: %s", MDNS_STR_ARG(service.service_type), esp_err_to_name(err));