diff --git a/components/sensor/hrxl_maxsonar_wr.rst b/components/sensor/hrxl_maxsonar_wr.rst
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@@ -0,0 +1,64 @@
+HRXL MaxSonar WR Series
+=======================
+
+.. seo::
+    :description: Instructions for setting up MaxBotix HRXL MaxSonar WR ultrasonic distance measurement sensors in ESPHome.
+    :image: hrxl_maxsonar_wr.jpg
+    :keywords: ultrasonic, maxbotix, maxsonar
+
+This sensor allows you to use HRXL MaxSonar WR series ultrasonic sensors by MaxBotix 
+(`datasheet <https://www.maxbotix.com/documents/HRXL-MaxSonar-WR_Datasheet.pdf>`__)
+with ESPHome to measure distances. Depending on the model, these sensors can measure
+in a range between 30 centimeters and 10 meters.
+
+This sensor platform works with the **TTL versions** of those sensors and expects the
+sensor's TTL pin to be wired to one of the ESP's input pins. Since these sensors read
+multiple times per second, filtering is highly recommended.
+
+
+.. figure:: images/hrxl_maxsonar_wr-full.jpg
+    :align: center
+    :width: 50.0%
+
+    MB7388 HRXL-MaxSonar-WRMLT Ultrasonic Distance Sensor.
+
+.. code-block:: yaml
+
+    # Example configuration entry
+    uart:
+      rx_pin: 36
+      baud_rate: 9600
+
+    sensor:
+      - platform: "hrxl_maxsonar_wr"
+        name: "Rainwater Tank"
+        # Tweak the filters for your application
+        filters:
+          - sliding_window_moving_average:
+              window_size: 12
+              send_every: 12
+          - or:
+            - throttle: "20min"
+            - delta: 0.02
+
+
+Configuration variables:
+------------------------
+
+- **name** (**Required**, string): The name of the sensor.
+- All other options from :ref:`Sensor <config-sensor>`.
+
+Advanced options:
+
+- **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.
+
+
+See Also
+--------
+
+- :ref:`sensor-filters`
+- :ref:`uart`
+- :doc:`template`
+- :apiref:`hrxl_maxsonar_wr/hrxl_maxsonar_wr.h`
+- :ghedit:`Edit`
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diff --git a/index.rst b/index.rst
index 33675ea2e..3988f39ea 100644
--- a/index.rst
+++ b/index.rst
@@ -180,6 +180,7 @@ Sensor Components
     HMC5883L, components/sensor/hmc5883l, hmc5883l.jpg
     QMC5883L, components/sensor/qmc5883l, qmc5883l.jpg
     Home Assistant, components/sensor/homeassistant, home-assistant.svg
+    HRXL MaxSonar WR, components/sensor/hrxl_maxsonar_wr, hrxl_maxsonar_wr.jpg
     HX711, components/sensor/hx711, hx711.jpg
     INA219, components/sensor/ina219, ina219.jpg
     INA226, components/sensor/ina226, ina226.jpg