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+A01NYUB Waterproof Ultrasonic Sensor
+====================================
+
+.. seo::
+    :description: Instructions for setting up A01NYUB waterproof ultrasonic distance sensor in ESPHome.
+    :image: a01nyub.jpg
+    :keywords: ultrasonic, DFRobot, A01NYUB
+
+This sensor allows you to use A01NYUB waterproof ultrasonic sensor by DFRobot 
+(`datasheet <https://wiki.dfrobot.com/A01NYUB%20Waterproof%20Ultrasonic%20Sensor%20SKU:%20SEN0313>`__)
+with ESPHome to measure distances. This sensor can measure
+ranges between 28 centimeters and 750 centimeters with a resolution of 1 milimeter.
+
+Since this sensor reads multiple times per second, :ref:`sensor-filters` are highly recommended.
+
+To use the sensor, first set up an :ref:`uart` with a baud rate of 9600 and connect the sensor to the specified pin.
+
+.. figure:: images/a01nyub-full.jpg
+    :align: center
+    :width: 50.0%
+
+    A01NYUB Waterproof Ultrasonic Distance Sensor.
+
+.. code-block:: yaml
+
+    # Example configuration entry
+    sensor:
+      - platform: "a01nyub"
+        name: "Distance"
+ 
+
+Configuration variables:
+------------------------
+
+- **name** (**Required**, string): The name of the sensor.
+- **uart_id** (*Optional*, :ref:`config-id`): The ID of the :ref:`UART bus <uart>` you wish to use for this sensor.
+  Use this if you want to use multiple UART buses at once.
+- All other options from :ref:`Sensor <config-sensor>`.
+
+See Also
+--------
+
+- :ref:`sensor-filters`
+- :ref:`uart`
+- :apiref:`a01nyub/a01nyub.h`
+- :ghedit:`Edit`
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@@ -236,6 +236,7 @@ Distance
 ********
 .. imgtable::
 
+    A01NYUB, components/sensor/a01nyub, a01nyub.jpg, Acoustic distance
     HRXL MaxSonar WR, components/sensor/hrxl_maxsonar_wr, hrxl_maxsonar_wr.jpg, Acoustic distance
     TOF10120, components/sensor/tof10120, tof10120.jpg, IR optical distance
     Ultrasonic Sensor, components/sensor/ultrasonic, ultrasonic.jpg, Acoustic distance