diff --git a/esphome/components/pulse_counter/pulse_counter_sensor.h b/esphome/components/pulse_counter/pulse_counter_sensor.h
index a7913d5d66b..7a68858099c 100644
--- a/esphome/components/pulse_counter/pulse_counter_sensor.h
+++ b/esphome/components/pulse_counter/pulse_counter_sensor.h
@@ -8,10 +8,10 @@
 
 #if defined(USE_ESP32)
 #include <soc/soc_caps.h>
-#ifdef SOC_PCNT_SUPPORTED
+#if defined(SOC_PCNT_SUPPORTED) && __has_include(<driver/pulse_cnt.h>)
 #include <driver/pulse_cnt.h>
 #define HAS_PCNT
-#endif  // SOC_PCNT_SUPPORTED
+#endif  // defined(SOC_PCNT_SUPPORTED) && __has_include(<driver/pulse_cnt.h>)
 #endif  // USE_ESP32
 
 namespace esphome {
diff --git a/tests/components/pulse_counter/test-no-pcnt.esp32-idf.yaml b/tests/components/pulse_counter/test-no-pcnt.esp32-idf.yaml
new file mode 100644
index 00000000000..cd15cc781d6
--- /dev/null
+++ b/tests/components/pulse_counter/test-no-pcnt.esp32-idf.yaml
@@ -0,0 +1,10 @@
+sensor:
+  - platform: pulse_counter
+    name: Pulse Counter
+    pin: 4
+    use_pcnt: false
+    count_mode:
+      rising_edge: INCREMENT
+      falling_edge: DECREMENT
+    internal_filter: 13us
+    update_interval: 15s