diff --git a/tests/benchmarks/components/binary_sensor/__init__.py b/tests/benchmarks/components/binary_sensor/__init__.py
new file mode 100644
index 00000000000..b08f67a0956
--- /dev/null
+++ b/tests/benchmarks/components/binary_sensor/__init__.py
@@ -0,0 +1,5 @@
+from tests.testing_helpers import ComponentManifestOverride
+
+
+def override_manifest(manifest: ComponentManifestOverride) -> None:
+    manifest.enable_codegen()
diff --git a/tests/benchmarks/components/binary_sensor/bench_binary_sensor_publish.cpp b/tests/benchmarks/components/binary_sensor/bench_binary_sensor_publish.cpp
new file mode 100644
index 00000000000..8bae943e2ea
--- /dev/null
+++ b/tests/benchmarks/components/binary_sensor/bench_binary_sensor_publish.cpp
@@ -0,0 +1,61 @@
+#include <benchmark/benchmark.h>
+
+#include "esphome/components/binary_sensor/binary_sensor.h"
+
+namespace esphome::binary_sensor::benchmarks {
+
+static constexpr int kInnerIterations = 2000;
+
+// Benchmark: publish_state with alternating values (forces state change every time)
+static void BinarySensorPublish_Alternating(benchmark::State &state) {
+  BinarySensor sensor;
+
+  // First publish to establish initial state
+  sensor.publish_initial_state(false);
+
+  for (auto _ : state) {
+    for (int i = 0; i < kInnerIterations; i++) {
+      sensor.publish_state(i % 2 == 0);
+    }
+    benchmark::DoNotOptimize(sensor.state);
+  }
+  state.SetItemsProcessed(state.iterations() * kInnerIterations);
+}
+BENCHMARK(BinarySensorPublish_Alternating);
+
+// Benchmark: publish_state with same value (tests dedup fast path)
+static void BinarySensorPublish_NoChange(benchmark::State &state) {
+  BinarySensor sensor;
+
+  sensor.publish_initial_state(true);
+
+  for (auto _ : state) {
+    for (int i = 0; i < kInnerIterations; i++) {
+      sensor.publish_state(true);
+    }
+    benchmark::DoNotOptimize(sensor.state);
+  }
+  state.SetItemsProcessed(state.iterations() * kInnerIterations);
+}
+BENCHMARK(BinarySensorPublish_NoChange);
+
+// Benchmark: publish_state with a callback registered
+static void BinarySensorPublish_WithCallback(benchmark::State &state) {
+  BinarySensor sensor;
+
+  int callback_count = 0;
+  sensor.add_on_state_callback([&callback_count](bool) { callback_count++; });
+
+  sensor.publish_initial_state(false);
+
+  for (auto _ : state) {
+    for (int i = 0; i < kInnerIterations; i++) {
+      sensor.publish_state(i % 2 == 0);
+    }
+    benchmark::DoNotOptimize(callback_count);
+  }
+  state.SetItemsProcessed(state.iterations() * kInnerIterations);
+}
+BENCHMARK(BinarySensorPublish_WithCallback);
+
+}  // namespace esphome::binary_sensor::benchmarks
diff --git a/tests/benchmarks/components/binary_sensor/benchmark.yaml b/tests/benchmarks/components/binary_sensor/benchmark.yaml
new file mode 100644
index 00000000000..fc0db6c52c9
--- /dev/null
+++ b/tests/benchmarks/components/binary_sensor/benchmark.yaml
@@ -0,0 +1 @@
+binary_sensor:
diff --git a/tests/benchmarks/components/sensor/__init__.py b/tests/benchmarks/components/sensor/__init__.py
new file mode 100644
index 00000000000..5a593aa8c27
--- /dev/null
+++ b/tests/benchmarks/components/sensor/__init__.py
@@ -0,0 +1,12 @@
+import esphome.codegen as cg
+from tests.testing_helpers import ComponentManifestOverride
+
+
+def override_manifest(manifest: ComponentManifestOverride) -> None:
+    # Sensor filter benchmarks need USE_SENSOR_FILTER defined.
+    # We use a custom to_code instead of enable_codegen() to avoid
+    # pulling in the full sensor component setup.
+    async def to_code(config):
+        cg.add_define("USE_SENSOR_FILTER")
+
+    manifest.to_code = to_code
diff --git a/tests/benchmarks/components/sensor/bench_sensor_filter.cpp b/tests/benchmarks/components/sensor/bench_sensor_filter.cpp
new file mode 100644
index 00000000000..e4aa3976901
--- /dev/null
+++ b/tests/benchmarks/components/sensor/bench_sensor_filter.cpp
@@ -0,0 +1,78 @@
+#include <benchmark/benchmark.h>
+
+#include "esphome/components/sensor/sensor.h"
+#include "esphome/components/sensor/filter.h"
+
+namespace esphome::sensor::benchmarks {
+
+static constexpr int kInnerIterations = 2000;
+
+// Benchmark: sensor publish through a SlidingWindowMovingAverageFilter (window=5, send_every=1)
+static void SensorFilter_SlidingWindowAvg(benchmark::State &state) {
+  Sensor sensor;
+
+  // Create filter: window_size=5, send_every=1, send_first_at=1
+  auto *filter = new SlidingWindowMovingAverageFilter(5, 1, 1);
+  sensor.add_filter(filter);
+
+  float value = 0.0f;
+  for (auto _ : state) {
+    for (int i = 0; i < kInnerIterations; i++) {
+      sensor.publish_state(value);
+      value += 0.1f;
+      if (value > 1000.0f)
+        value = 0.0f;
+    }
+    benchmark::DoNotOptimize(sensor.state);
+  }
+  state.SetItemsProcessed(state.iterations() * kInnerIterations);
+}
+BENCHMARK(SensorFilter_SlidingWindowAvg);
+
+// Benchmark: sensor publish through ExponentialMovingAverageFilter
+static void SensorFilter_ExponentialMovingAvg(benchmark::State &state) {
+  Sensor sensor;
+
+  // alpha=0.1, send_every=1, send_first_at=1
+  auto *filter = new ExponentialMovingAverageFilter(0.1f, 1, 1);
+  sensor.add_filter(filter);
+
+  float value = 0.0f;
+  for (auto _ : state) {
+    for (int i = 0; i < kInnerIterations; i++) {
+      sensor.publish_state(value);
+      value += 0.1f;
+      if (value > 1000.0f)
+        value = 0.0f;
+    }
+    benchmark::DoNotOptimize(sensor.state);
+  }
+  state.SetItemsProcessed(state.iterations() * kInnerIterations);
+}
+BENCHMARK(SensorFilter_ExponentialMovingAvg);
+
+// Benchmark: sensor publish through a chain of 3 filters (offset + multiply + sliding window)
+static void SensorFilter_Chain3(benchmark::State &state) {
+  Sensor sensor;
+
+  sensor.add_filters({
+      new OffsetFilter(1.0f),
+      new MultiplyFilter(2.0f),
+      new SlidingWindowMovingAverageFilter(5, 1, 1),
+  });
+
+  float value = 0.0f;
+  for (auto _ : state) {
+    for (int i = 0; i < kInnerIterations; i++) {
+      sensor.publish_state(value);
+      value += 0.1f;
+      if (value > 1000.0f)
+        value = 0.0f;
+    }
+    benchmark::DoNotOptimize(sensor.state);
+  }
+  state.SetItemsProcessed(state.iterations() * kInnerIterations);
+}
+BENCHMARK(SensorFilter_Chain3);
+
+}  // namespace esphome::sensor::benchmarks
diff --git a/tests/benchmarks/components/sensor/benchmark.yaml b/tests/benchmarks/components/sensor/benchmark.yaml
new file mode 100644
index 00000000000..e1fb52cdd6a
--- /dev/null
+++ b/tests/benchmarks/components/sensor/benchmark.yaml
@@ -0,0 +1 @@
+sensor: