diff --git a/esphome/components/ultrasonic/ultrasonic_sensor.cpp b/esphome/components/ultrasonic/ultrasonic_sensor.cpp
index d3f7e694440..a354b198b4b 100644
--- a/esphome/components/ultrasonic/ultrasonic_sensor.cpp
+++ b/esphome/components/ultrasonic/ultrasonic_sensor.cpp
@@ -6,11 +6,17 @@ namespace esphome::ultrasonic {
 
 static const char *const TAG = "ultrasonic.sensor";
 
+static constexpr uint32_t DEBOUNCE_US = 50;          // Ignore edges within 50us of each other (noise filtering)
+static constexpr uint32_t START_DELAY_US = 100;      // Ignore edges within 100us of trigger (filters bleed-through)
 static constexpr uint32_t START_TIMEOUT_US = 40000;  // Maximum time to wait for echo pulse to start
 
 void IRAM_ATTR UltrasonicSensorStore::gpio_intr(UltrasonicSensorStore *arg) {
   uint32_t now = micros();
-  if (arg->echo_pin_isr.digital_read()) {
+  // Ignore edges after measurement complete or too soon after trigger pulse
+  if (arg->echo_end || (now - arg->measurement_start_us) <= START_DELAY_US) {
+    return;
+  }
+  if (!arg->echo_start || (now - arg->echo_start_us) <= DEBOUNCE_US) {
     arg->echo_start_us = now;
     arg->echo_start = true;
   } else {
@@ -21,15 +27,14 @@ void IRAM_ATTR UltrasonicSensorStore::gpio_intr(UltrasonicSensorStore *arg) {
 
 void IRAM_ATTR UltrasonicSensorComponent::send_trigger_pulse_() {
   InterruptLock lock;
-  this->store_.echo_start_us = 0;
-  this->store_.echo_end_us = 0;
   this->store_.echo_start = false;
   this->store_.echo_end = false;
+  this->store_.measurement_start_us = micros();
   this->trigger_pin_isr_.digital_write(true);
   delayMicroseconds(this->pulse_time_us_);
   this->trigger_pin_isr_.digital_write(false);
   this->measurement_pending_ = true;
-  this->measurement_start_us_ = micros();
+  this->measurement_start_us_ = this->store_.measurement_start_us;
 }
 
 void UltrasonicSensorComponent::setup() {
@@ -37,7 +42,6 @@ void UltrasonicSensorComponent::setup() {
   this->trigger_pin_->digital_write(false);
   this->trigger_pin_isr_ = this->trigger_pin_->to_isr();
   this->echo_pin_->setup();
-  this->store_.echo_pin_isr = this->echo_pin_->to_isr();
   this->echo_pin_->attach_interrupt(UltrasonicSensorStore::gpio_intr, &this->store_, gpio::INTERRUPT_ANY_EDGE);
 }
 
@@ -77,17 +81,10 @@ void UltrasonicSensorComponent::loop() {
   }
 
   if (this->store_.echo_end) {
-    float result;
-    if (this->store_.echo_start) {
-      uint32_t pulse_duration = this->store_.echo_end_us - this->store_.echo_start_us;
-      ESP_LOGV(TAG, "pulse start took %" PRIu32 "us, echo took %" PRIu32 "us",
-               this->store_.echo_start_us - this->measurement_start_us_, pulse_duration);
-      result = UltrasonicSensorComponent::us_to_m(pulse_duration);
-      ESP_LOGD(TAG, "'%s' - Got distance: %.3f m", this->name_.c_str(), result);
-    } else {
-      ESP_LOGW(TAG, "'%s' - pulse end before pulse start, does the echo pin need to be inverted?", this->name_.c_str());
-      result = NAN;
-    }
+    uint32_t pulse_duration = this->store_.echo_end_us - this->store_.echo_start_us;
+    ESP_LOGV(TAG, "Echo took %" PRIu32 "us", pulse_duration);
+    float result = UltrasonicSensorComponent::us_to_m(pulse_duration);
+    ESP_LOGD(TAG, "'%s' - Got distance: %.3f m", this->name_.c_str(), result);
     this->publish_state(result);
     this->measurement_pending_ = false;
     return;
diff --git a/esphome/components/ultrasonic/ultrasonic_sensor.h b/esphome/components/ultrasonic/ultrasonic_sensor.h
index 541f7d2b700..7d333a1b243 100644
--- a/esphome/components/ultrasonic/ultrasonic_sensor.h
+++ b/esphome/components/ultrasonic/ultrasonic_sensor.h
@@ -11,8 +11,7 @@ namespace esphome::ultrasonic {
 struct UltrasonicSensorStore {
   static void gpio_intr(UltrasonicSensorStore *arg);
 
-  ISRInternalGPIOPin echo_pin_isr;
-  volatile uint32_t wait_start_us{0};
+  volatile uint32_t measurement_start_us{0};
   volatile uint32_t echo_start_us{0};
   volatile uint32_t echo_end_us{0};
   volatile bool echo_start{false};