diff --git a/esphome/components/zigbee/__init__.py b/esphome/components/zigbee/__init__.py
index a7e9d1096f7..286b395e183 100644
--- a/esphome/components/zigbee/__init__.py
+++ b/esphome/components/zigbee/__init__.py
@@ -79,10 +79,7 @@ CONFIG_SCHEMA = cv.All(
                 cv.string, cv.Length(max=31)
             ),
             cv.Optional(CONF_ROUTER, default=False): cv.boolean,
-            cv.Optional(CONF_ON_JOIN): cv.All(
-                cv.requires_component("nrf52"),
-                automation.validate_automation(single=True),
-            ),
+            cv.Optional(CONF_ON_JOIN): automation.validate_automation({}),
             cv.OnlyWith(CONF_WIPE_ON_BOOT, "nrf52", default=False): cv.All(
                 cv.Any(
                     cv.boolean,
@@ -146,17 +143,25 @@ FINAL_VALIDATE_SCHEMA = cv.All(
 )
 
 
+_CALLBACK_AUTOMATIONS = [
+    automation.CallbackAutomation(CONF_ON_JOIN, "add_on_join_callback", [(bool, "x")]),
+]
+
+
 @coroutine_with_priority(CoroPriority.CORE)
 async def to_code(config: ConfigType) -> None:
     cg.add_define("USE_ZIGBEE")
+    var = None
     if CORE.using_zephyr:
         from .zigbee_zephyr import zephyr_to_code
 
-        await zephyr_to_code(config)
+        var = await zephyr_to_code(config)
     if CORE.is_esp32:
         from .zigbee_esp32 import esp32_to_code
 
-        await esp32_to_code(config)
+        var = await esp32_to_code(config)
+    if var is not None:
+        await automation.build_callback_automations(var, config, _CALLBACK_AUTOMATIONS)
 
 
 async def setup_binary_sensor(entity: cg.MockObj, config: ConfigType) -> None:
diff --git a/esphome/components/zigbee/time/zigbee_time_zephyr.cpp b/esphome/components/zigbee/time/zigbee_time_zephyr.cpp
index 70ceb60abee..92d238629a1 100644
--- a/esphome/components/zigbee/time/zigbee_time_zephyr.cpp
+++ b/esphome/components/zigbee/time/zigbee_time_zephyr.cpp
@@ -26,7 +26,7 @@ void ZigbeeTime::setup() {
   global_time = this;
   this->parent_->add_callback(this->endpoint_, [this](zb_bufid_t bufid) { this->zcl_device_cb_(bufid); });
   synchronize_epoch_(EPOCH_2000);
-  this->parent_->add_join_callback([this]() { zb_zcl_time_server_synchronize(this->endpoint_, sync_time); });
+  this->parent_->add_on_join_callback([this](bool x) { zb_zcl_time_server_synchronize(this->endpoint_, sync_time); });
 }
 
 void ZigbeeTime::dump_config() {
diff --git a/esphome/components/zigbee/zigbee_esp32.cpp b/esphome/components/zigbee/zigbee_esp32.cpp
index c16736236a4..733f45cc2ae 100644
--- a/esphome/components/zigbee/zigbee_esp32.cpp
+++ b/esphome/components/zigbee/zigbee_esp32.cpp
@@ -59,11 +59,13 @@ void esp_zb_app_signal_handler(esp_zb_app_signal_t *signal_struct) {
         ESP_LOGD(TAG, "Device started up in %sfactory-reset mode", esp_zb_bdb_is_factory_new() ? "" : "non ");
         global_zigbee->started = true;
         if (esp_zb_bdb_is_factory_new()) {
+          global_zigbee->factory_new = true;
           ESP_LOGD(TAG, "Start network steering");
           esp_zb_bdb_start_top_level_commissioning(ESP_ZB_BDB_MODE_NETWORK_STEERING);
         } else {
           ESP_LOGD(TAG, "Device rebooted");
-          global_zigbee->connected = true;
+          global_zigbee->joined = true;
+          global_zigbee->enable_loop_soon_any_context();
         }
       } else {
         ESP_LOGE(TAG, "FIRST_START.  Device started up in %sfactory-reset mode with an error %d (%s)",
@@ -78,7 +80,8 @@ void esp_zb_app_signal_handler(esp_zb_app_signal_t *signal_struct) {
         steering_retry_count = 0;
         ESP_LOGI(TAG, "Joined network successfully (PAN ID: 0x%04hx, Channel:%d)", esp_zb_get_pan_id(),
                  esp_zb_get_current_channel());
-        global_zigbee->connected = true;
+        global_zigbee->joined = true;
+        global_zigbee->enable_loop_soon_any_context();
       } else {
         ESP_LOGI(TAG, "Network steering was not successful (status: %s)", esp_err_to_name(err_status));
         if (steering_retry_count < 10) {
@@ -283,6 +286,15 @@ void ZigbeeComponent::setup() {
     }
   }
   xTaskCreate(esp_zb_task_, "Zigbee_main", 4096, NULL, 24, NULL);
+  this->disable_loop();  // loop is only needed for processing events, so disable until we join a network
+}
+
+void ZigbeeComponent::loop() {
+  if (this->joined.exchange(false)) {
+    this->connected_ = true;
+    this->join_cb_.call(this->factory_new);
+  }
+  this->disable_loop();
 }
 
 void ZigbeeComponent::dump_config() {
diff --git a/esphome/components/zigbee/zigbee_esp32.h b/esphome/components/zigbee/zigbee_esp32.h
index 80ecbfd639e..a9072f6c8d4 100644
--- a/esphome/components/zigbee/zigbee_esp32.h
+++ b/esphome/components/zigbee/zigbee_esp32.h
@@ -39,6 +39,7 @@ class ZigbeeAttribute;
 class ZigbeeComponent : public Component {
  public:
   void setup() override;
+  void loop() override;
   void dump_config() override;
   esp_err_t create_endpoint(uint8_t endpoint_id, zb_ha_standard_devs_e device_id,
                             esp_zb_cluster_list_t *esp_zb_cluster_list);
@@ -59,10 +60,13 @@ class ZigbeeComponent : public Component {
     esp_zb_lock_release();
   }
 
+  template<typename F> void add_on_join_callback(F &&cb) { this->join_cb_.add(std::forward<F>(cb)); }
+
   bool is_started() { return this->started; }
-  bool is_connected() { return this->connected; }
-  std::atomic<bool> connected = false;
+  bool is_connected() { return this->connected_; }
   std::atomic<bool> started = false;
+  std::atomic<bool> joined = false;
+  std::atomic<bool> factory_new = false;
 
  protected:
   struct {
@@ -70,6 +74,7 @@ class ZigbeeComponent : public Component {
     uint8_t *manufacturer;
     uint8_t *date;
   } basic_cluster_data_;
+  bool connected_ = false;
 #ifdef ZB_ED_ROLE
   esp_zb_nwk_device_type_t device_role_ = ESP_ZB_DEVICE_TYPE_ED;
 #else
@@ -89,6 +94,7 @@ class ZigbeeComponent : public Component {
   // key tuple could be replaced by single 64 (48) bit int with bit fields for endpoint, cluster, role and attr_id
   std::map<std::tuple<uint8_t, uint16_t, uint8_t, uint16_t>, ZigbeeAttribute *> attributes_;
   esp_zb_ep_list_t *esp_zb_ep_list_ = esp_zb_ep_list_create();
+  CallbackManager<void(bool)> join_cb_{};
 };
 
 extern "C" void esp_zb_app_signal_handler(esp_zb_app_signal_t *signal_struct);
diff --git a/esphome/components/zigbee/zigbee_esp32.py b/esphome/components/zigbee/zigbee_esp32.py
index 99238f758e8..5b1808ea60d 100644
--- a/esphome/components/zigbee/zigbee_esp32.py
+++ b/esphome/components/zigbee/zigbee_esp32.py
@@ -28,6 +28,7 @@ from esphome.const import (
 )
 from esphome.core import CORE
 from esphome.coroutine import CoroPriority, coroutine_with_priority
+from esphome.cpp_generator import MockObj
 import esphome.final_validate as fv
 from esphome.types import ConfigType
 
@@ -289,7 +290,7 @@ async def attributes_to_code(
             cg.add(attr_var.connect(template_arg, device))
 
 
-async def esp32_to_code(config: ConfigType) -> None:
+async def esp32_to_code(config: ConfigType) -> "MockObj":
     add_idf_component(
         name="espressif/esp-zboss-lib",
         ref="1.6.4",
@@ -332,3 +333,4 @@ async def esp32_to_code(config: ConfigType) -> None:
                 )
             )
             await attributes_to_code(var, ep[CONF_NUM], cl)
+    return var
diff --git a/esphome/components/zigbee/zigbee_zephyr.cpp b/esphome/components/zigbee/zigbee_zephyr.cpp
index 26bef8fb174..81aad7dcb17 100644
--- a/esphome/components/zigbee/zigbee_zephyr.cpp
+++ b/esphome/components/zigbee/zigbee_zephyr.cpp
@@ -40,7 +40,7 @@ void ZigbeeComponent::zboss_signal_handler_esphome(zb_bufid_t bufid) {
     case ZB_BDB_SIGNAL_DEVICE_REBOOT:
       ESP_LOGD(TAG, "ZB_BDB_SIGNAL_DEVICE_REBOOT, status: %d", status);
       if (status == RET_OK) {
-        on_join_();
+        on_join_(false);
       }
       break;
     case ZB_BDB_SIGNAL_STEERING:
@@ -88,7 +88,7 @@ void ZigbeeComponent::zboss_signal_handler_esphome(zb_bufid_t bufid) {
 
         for (int i = 0; i < addr_len; ++i) {
           if (ieee_addr_buf[i] != '0') {
-            on_join_();
+            on_join_(true);
             break;
           }
         }
@@ -130,11 +130,10 @@ void ZigbeeComponent::zcl_device_cb(zb_bufid_t bufid) {
   p_device_cb_param->status = RET_NOT_IMPLEMENTED;
 }
 
-void ZigbeeComponent::on_join_() {
-  this->defer([this]() {
+void ZigbeeComponent::on_join_(bool factory_new) {
+  this->defer([this, factory_new]() {
     ESP_LOGD(TAG, "Joined the network");
-    this->join_trigger_.trigger();
-    this->join_cb_.call();
+    this->join_cb_.call(factory_new);
   });
 }
 
diff --git a/esphome/components/zigbee/zigbee_zephyr.h b/esphome/components/zigbee/zigbee_zephyr.h
index 0a189ac1e04..d462d2a4031 100644
--- a/esphome/components/zigbee/zigbee_zephyr.h
+++ b/esphome/components/zigbee/zigbee_zephyr.h
@@ -74,25 +74,23 @@ class ZigbeeComponent : public Component {
     // endpoints are enumerated from 1
     this->callbacks_[endpoint - 1] = std::move(cb);
   }
-  template<typename F> void add_join_callback(F &&cb) { this->join_cb_.add(std::forward<F>(cb)); }
+  template<typename F> void add_on_join_callback(F &&cb) { this->join_cb_.add(std::forward<F>(cb)); }
   void zboss_signal_handler_esphome(zb_bufid_t bufid);
   void after_reporting_info(zb_zcl_configure_reporting_req_t *config_rep_req, zb_zcl_attr_addr_info_t *attr_addr_info);
   void factory_reset();
-  Trigger<> *get_join_trigger() { return &this->join_trigger_; };
   void force_report();
   void loop() override;
   void set_sleepy(bool sleepy) { this->sleepy_ = sleepy; }
 
  protected:
   static void zcl_device_cb(zb_bufid_t bufid);
-  void on_join_();
+  void on_join_(bool factory_new);
 #ifdef USE_ZIGBEE_WIPE_ON_BOOT
   void erase_flash_(int area);
 #endif
   void dump_reporting_();
   std::array<std::function<void(zb_bufid_t bufid)>, ZIGBEE_ENDPOINTS_COUNT> callbacks_{};
-  CallbackManager<void()> join_cb_;
-  Trigger<> join_trigger_;
+  CallbackManager<void(bool)> join_cb_;
   bool force_report_{false};
   uint32_t sleep_time_{};
   uint32_t sleep_remainder_{};
diff --git a/esphome/components/zigbee/zigbee_zephyr.py b/esphome/components/zigbee/zigbee_zephyr.py
index 033511691cc..aa16bbef538 100644
--- a/esphome/components/zigbee/zigbee_zephyr.py
+++ b/esphome/components/zigbee/zigbee_zephyr.py
@@ -1,7 +1,6 @@
 import datetime
 import random
 
-from esphome import automation
 import esphome.codegen as cg
 from esphome.components.zephyr import zephyr_add_prj_conf
 import esphome.config_validation as cv
@@ -23,7 +22,6 @@ from esphome.types import ConfigType
 from .const import (
     BACNET_UNIT_NO_UNITS,
     BACNET_UNITS,
-    CONF_ON_JOIN,
     CONF_POWER_SOURCE,
     CONF_ROUTER,
     CONF_WIPE_ON_BOOT,
@@ -96,7 +94,7 @@ zephyr_number = cv.Schema(
 )
 
 
-async def zephyr_to_code(config: ConfigType) -> None:
+async def zephyr_to_code(config: ConfigType) -> "MockObj":
     zephyr_add_prj_conf("ZIGBEE", True)
     zephyr_add_prj_conf("ZIGBEE_APP_UTILS", True)
     if config[CONF_ROUTER]:
@@ -141,15 +139,14 @@ async def zephyr_to_code(config: ConfigType) -> None:
 
     var = cg.new_Pvariable(config[CONF_ID])
 
-    if on_join_config := config.get(CONF_ON_JOIN):
-        await automation.build_automation(var.get_join_trigger(), [], on_join_config)
-
     await cg.register_component(var, config)
 
     CORE.add_job(_ctx_to_code, config)
 
     cg.add(var.set_sleepy(config[CONF_SLEEPY]))
 
+    return var
+
 
 async def _attr_to_code(config: ConfigType) -> None:
     # Create the basic attributes structure and attribute list
diff --git a/tests/components/zigbee/common_esp32.yaml b/tests/components/zigbee/common_esp32.yaml
index 94e3f3c8c04..77e202b5235 100644
--- a/tests/components/zigbee/common_esp32.yaml
+++ b/tests/components/zigbee/common_esp32.yaml
@@ -12,3 +12,6 @@ binary_sensor:
 zigbee:
   model: zigbee_test
   router: true
+  on_join:
+    then:
+      - logger.log: "Joined network"