diff --git a/esphome/components/camera_encoder/__init__.py b/esphome/components/camera_encoder/__init__.py
index a0c59a517a..3bbeae7835 100644
--- a/esphome/components/camera_encoder/__init__.py
+++ b/esphome/components/camera_encoder/__init__.py
@@ -50,7 +50,7 @@ async def to_code(config: ConfigType) -> None:
     buffer = cg.new_Pvariable(config[CONF_ENCODER_BUFFER_ID])
     cg.add(buffer.set_buffer_size(config[CONF_BUFFER_SIZE]))
     if config[CONF_TYPE] == ESP32_CAMERA_ENCODER:
-        add_idf_component(name="espressif/esp32-camera", ref="2.1.5")
+        add_idf_component(name="espressif/esp32-camera", ref="2.1.6")
         cg.add_define("USE_ESP32_CAMERA_JPEG_ENCODER")
         var = cg.new_Pvariable(
             config[CONF_ID],
diff --git a/esphome/components/esp32_camera/__init__.py b/esphome/components/esp32_camera/__init__.py
index afab849a7c..66af321e4e 100644
--- a/esphome/components/esp32_camera/__init__.py
+++ b/esphome/components/esp32_camera/__init__.py
@@ -400,7 +400,7 @@ async def to_code(config):
     if config[CONF_JPEG_QUALITY] != 0 and config[CONF_PIXEL_FORMAT] != "JPEG":
         cg.add_define("USE_ESP32_CAMERA_JPEG_CONVERSION")
 
-    add_idf_component(name="espressif/esp32-camera", ref="2.1.5")
+    add_idf_component(name="espressif/esp32-camera", ref="2.1.6")
     add_idf_sdkconfig_option("CONFIG_SCCB_HARDWARE_I2C_DRIVER_NEW", True)
     add_idf_sdkconfig_option("CONFIG_SCCB_HARDWARE_I2C_DRIVER_LEGACY", False)
 
diff --git a/esphome/idf_component.yml b/esphome/idf_component.yml
index c44853969e..462af5d1e7 100644
--- a/esphome/idf_component.yml
+++ b/esphome/idf_component.yml
@@ -10,7 +10,7 @@ dependencies:
   espressif/esp-tflite-micro:
     version: 1.3.3~1
   espressif/esp32-camera:
-    version: 2.1.5
+    version: 2.1.6
   espressif/mdns:
     version: 1.10.0
   espressif/esp_wifi_remote: