diff --git a/.clang-tidy.hash b/.clang-tidy.hash
index 55239f961c..a1dcdf5799 100644
--- a/.clang-tidy.hash
+++ b/.clang-tidy.hash
@@ -1 +1 @@
-a172e2f65981e98354cc6b5ecf69bdb055dd13602226042ab2c7acd037a2bf41
+08c21fa4c044fd80c8f3296371f30c4f5ff3418f1bc1efe63c5bad938301f122
diff --git a/esphome/components/async_tcp/__init__.py b/esphome/components/async_tcp/__init__.py
index 1ff4805f03..2a07903b68 100644
--- a/esphome/components/async_tcp/__init__.py
+++ b/esphome/components/async_tcp/__init__.py
@@ -38,8 +38,10 @@ async def to_code(config):
         # https://github.com/ESP32Async/ESPAsyncTCP
         cg.add_library("ESP32Async/ESPAsyncTCP", "2.0.0")
     elif CORE.is_rp2040:
-        # https://github.com/khoih-prog/AsyncTCP_RP2040W
-        cg.add_library("khoih-prog/AsyncTCP_RP2040W", "1.2.0")
+        # https://github.com/ayushsharma82/RPAsyncTCP
+        # RPAsyncTCP is a drop-in replacement for AsyncTCP_RP2040W with better
+        # ESPAsyncWebServer compatibility
+        cg.add_library("ayushsharma82/RPAsyncTCP", "1.3.2")
     # Other platforms (host, etc) use socket-based implementation
 
 
diff --git a/esphome/components/async_tcp/async_tcp.h b/esphome/components/async_tcp/async_tcp.h
index 6d9211f023..21fcfe239f 100644
--- a/esphome/components/async_tcp/async_tcp.h
+++ b/esphome/components/async_tcp/async_tcp.h
@@ -8,8 +8,8 @@
 // Use ESPAsyncTCP library for ESP8266 (always Arduino)
 #include <ESPAsyncTCP.h>
 #elif defined(USE_RP2040)
-// Use AsyncTCP_RP2040W library for RP2040
-#include <AsyncTCP_RP2040W.h>
+// Use RPAsyncTCP library for RP2040
+#include <RPAsyncTCP.h>
 #else
 // Use socket-based implementation for other platforms
 #include "async_tcp_socket.h"
diff --git a/esphome/components/web_server/__init__.py b/esphome/components/web_server/__init__.py
index 3f1e094afc..8b02a6baee 100644
--- a/esphome/components/web_server/__init__.py
+++ b/esphome/components/web_server/__init__.py
@@ -31,6 +31,7 @@ from esphome.const import (
     PLATFORM_ESP32,
     PLATFORM_ESP8266,
     PLATFORM_LN882X,
+    PLATFORM_RP2040,
     PLATFORM_RTL87XX,
 )
 from esphome.core import CORE, CoroPriority, coroutine_with_priority
@@ -213,6 +214,7 @@ CONFIG_SCHEMA = cv.All(
             PLATFORM_ESP8266,
             PLATFORM_BK72XX,
             PLATFORM_LN882X,
+            PLATFORM_RP2040,
             PLATFORM_RTL87XX,
         ]
     ),
diff --git a/esphome/components/web_server_base/__init__.py b/esphome/components/web_server_base/__init__.py
index e0eec7dedb..6c756575d4 100644
--- a/esphome/components/web_server_base/__init__.py
+++ b/esphome/components/web_server_base/__init__.py
@@ -47,5 +47,10 @@ async def to_code(config):
             cg.add_library("ESP8266WiFi", None)
         if CORE.is_libretiny:
             CORE.add_platformio_option("lib_ignore", ["ESPAsyncTCP", "RPAsyncTCP"])
+        if CORE.is_rp2040:
+            # Ignore bundled AsyncTCP libraries - we use RPAsyncTCP from async_tcp component
+            CORE.add_platformio_option(
+                "lib_ignore", ["ESPAsyncTCP", "AsyncTCP", "AsyncTCP_RP2040W"]
+            )
         # https://github.com/ESP32Async/ESPAsyncWebServer/blob/main/library.json
         cg.add_library("ESP32Async/ESPAsyncWebServer", "3.9.5")
diff --git a/platformio.ini b/platformio.ini
index accc40ecf2..c5a6768ad2 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -200,6 +200,7 @@ platform_packages =
 framework = arduino
 lib_deps =
     ${common:arduino.lib_deps}
+    ayushsharma82/RPAsyncTCP@1.3.2        ; async_tcp
     bblanchon/ArduinoJson@7.4.2           ; json
     ESP32Async/ESPAsyncWebServer@3.9.5    ; web_server_base
 build_flags =
diff --git a/tests/components/web_server/test.rp2040-ard.yaml b/tests/components/web_server/test.rp2040-ard.yaml
new file mode 100644
index 0000000000..7e6658e20e
--- /dev/null
+++ b/tests/components/web_server/test.rp2040-ard.yaml
@@ -0,0 +1 @@
+<<: !include common_v2.yaml