diff --git a/esphome/components/adc/adc_sensor.h b/esphome/components/adc/adc_sensor.h
index 91cf4eaafc..cf48ccd9c3 100644
--- a/esphome/components/adc/adc_sensor.h
+++ b/esphome/components/adc/adc_sensor.h
@@ -22,7 +22,8 @@ namespace adc {
 
 #ifdef USE_ESP32
 // clang-format off
-#if (ESP_IDF_VERSION_MAJOR == 5 && \
+#if ESP_IDF_VERSION_MAJOR >= 6 || \
+    (ESP_IDF_VERSION_MAJOR == 5 && \
      ((ESP_IDF_VERSION_MINOR == 0 && ESP_IDF_VERSION_PATCH >= 5) || \
       (ESP_IDF_VERSION_MINOR == 1 && ESP_IDF_VERSION_PATCH >= 3) || \
       (ESP_IDF_VERSION_MINOR >= 2)) \