diff --git a/esphome/components/sensor/__init__.py b/esphome/components/sensor/__init__.py
index 48b7d25d4df..822fe33924d 100644
--- a/esphome/components/sensor/__init__.py
+++ b/esphome/components/sensor/__init__.py
@@ -280,7 +280,7 @@ ThrottleWithPriorityFilter = sensor_ns.class_(
 ThrottleWithPriorityNanFilter = sensor_ns.class_(
     "ThrottleWithPriorityNanFilter", Filter
 )
-TimeoutFilterBase = sensor_ns.class_("TimeoutFilterBase", Filter, cg.Component)
+TimeoutFilterBase = sensor_ns.class_("TimeoutFilterBase", Filter)
 TimeoutFilterLast = sensor_ns.class_("TimeoutFilterLast", TimeoutFilterBase)
 TimeoutFilterConfigured = sensor_ns.class_("TimeoutFilterConfigured", TimeoutFilterBase)
 DebounceFilter = sensor_ns.class_("DebounceFilter", Filter, cg.Component)
@@ -730,7 +730,6 @@ async def timeout_filter_to_code(config, filter_id):
         filter_id.type = TimeoutFilterConfigured
         template_ = await cg.templatable(config[CONF_VALUE], [], cg.float_)
         var = cg.new_Pvariable(filter_id, config[CONF_TIMEOUT], template_)
-    await cg.register_component(var, {})
     return var
 
 
diff --git a/esphome/components/sensor/filter.cpp b/esphome/components/sensor/filter.cpp
index 4896757d3f3..44556f6ed73 100644
--- a/esphome/components/sensor/filter.cpp
+++ b/esphome/components/sensor/filter.cpp
@@ -322,41 +322,19 @@ optional<float> or_filter_new_value(Filter **filters, size_t count, float value,
   return {};
 }
 
-// TimeoutFilterBase - shared loop logic
-void TimeoutFilterBase::loop() {
-  // Check if timeout period has elapsed
-  // Use cached loop start time to avoid repeated millis() calls
-  const uint32_t now = App.get_loop_component_start_time();
-  if (now - this->timeout_start_time_ >= this->time_period_) {
-    // Timeout fired - get output value from derived class and output it
-    this->output(this->get_output_value());
-
-    // Disable loop until next value arrives
-    this->disable_loop();
-  }
-}
-
-float TimeoutFilterBase::get_setup_priority() const { return setup_priority::HARDWARE; }
-
-// TimeoutFilterLast - "last" mode implementation
+// TimeoutFilterLast - "last" mode: re-arm on every input; output the latest value if no further
+// input arrives within time_period_. Self-keyed scheduler.set_timeout(this, ...) cancels and
+// replaces any pending arm in O(1).
 optional<float> TimeoutFilterLast::new_value(float value) {
-  // Store the value to output when timeout fires
   this->pending_value_ = value;
-
-  // Record when timeout started and enable loop
-  this->timeout_start_time_ = millis();
-  this->enable_loop();
-
+  App.scheduler.set_timeout(this, this->time_period_, [this]() { this->output(this->pending_value_); });
   return value;
 }
 
-// TimeoutFilterConfigured - configured value mode implementation
+// TimeoutFilterConfigured - configured-value mode: re-arm on every input; output the configured
+// value (static or lambda) if no further input arrives within time_period_.
 optional<float> TimeoutFilterConfigured::new_value(float value) {
-  // Record when timeout started and enable loop
-  // Note: we don't store the incoming value since we have a configured value
-  this->timeout_start_time_ = millis();
-  this->enable_loop();
-
+  App.scheduler.set_timeout(this, this->time_period_, [this]() { this->output(this->value_.value()); });
   return value;
 }
 
diff --git a/esphome/components/sensor/filter.h b/esphome/components/sensor/filter.h
index 917a1ce7d5a..612c6aab3b0 100644
--- a/esphome/components/sensor/filter.h
+++ b/esphome/components/sensor/filter.h
@@ -412,22 +412,15 @@ class ThrottleWithPriorityNanFilter : public Filter {
   uint32_t min_time_between_inputs_;
 };
 
-// Base class for timeout filters - contains common loop logic
-class TimeoutFilterBase : public Filter, public Component {
- public:
-  void loop() override;
-  float get_setup_priority() const override;
-
+// Base class for timeout filters. Self-keyed scheduler timeout (`this` as key) re-arms on each
+// new_value(). Filter instances live for the program's lifetime, so the scheduler key never dangles.
+class TimeoutFilterBase : public Filter {
  protected:
-  explicit TimeoutFilterBase(uint32_t time_period) : time_period_(time_period) { this->disable_loop(); }
-  virtual float get_output_value() = 0;
-
-  uint32_t time_period_;            // 4 bytes (timeout duration in ms)
-  uint32_t timeout_start_time_{0};  // 4 bytes (when the timeout was started)
-  // Total base: 8 bytes
+  explicit TimeoutFilterBase(uint32_t time_period) : time_period_(time_period) {}
+  uint32_t time_period_;
 };
 
-// Timeout filter for "last" mode - outputs the last received value after timeout
+// "last" mode — outputs the most recent input after time_period_ ms of silence.
 class TimeoutFilterLast : public TimeoutFilterBase {
  public:
   explicit TimeoutFilterLast(uint32_t time_period) : TimeoutFilterBase(time_period) {}
@@ -435,12 +428,10 @@ class TimeoutFilterLast : public TimeoutFilterBase {
   optional<float> new_value(float value) override;
 
  protected:
-  float get_output_value() override { return this->pending_value_; }
-  float pending_value_{0};  // 4 bytes (value to output when timeout fires)
-  // Total: 8 (base) + 4 = 12 bytes + vtable ptr + Component overhead
+  float pending_value_{0};
 };
 
-// Timeout filter with configured value - evaluates TemplatableValue after timeout
+// Configured-value mode — outputs a static or lambda value after time_period_ ms of silence.
 class TimeoutFilterConfigured : public TimeoutFilterBase {
  public:
   explicit TimeoutFilterConfigured(uint32_t time_period, const TemplatableFn<float> &new_value)
@@ -449,9 +440,7 @@ class TimeoutFilterConfigured : public TimeoutFilterBase {
   optional<float> new_value(float value) override;
 
  protected:
-  float get_output_value() override { return this->value_.value(); }
-  TemplatableFn<float> value_;  // 4 bytes (configured output value, can be lambda)
-  // Total: 8 (base) + 4 = 12 bytes + vtable ptr + Component overhead
+  TemplatableFn<float> value_;
 };
 
 class DebounceFilter : public Filter, public Component {