diff --git a/esphome/components/sensor/filter.cpp b/esphome/components/sensor/filter.cpp
index 3f67af59be..eaa909429b 100644
--- a/esphome/components/sensor/filter.cpp
+++ b/esphome/components/sensor/filter.cpp
@@ -359,11 +359,15 @@ OrFilter::OrFilter(std::vector<Filter *> filters) : filters_(std::move(filters))
 OrFilter::PhiNode::PhiNode(OrFilter *or_parent) : or_parent_(or_parent) {}
 
 optional<float> OrFilter::PhiNode::new_value(float value) {
-  this->or_parent_->output(value);
+  if (!this->or_parent_->has_value_) {
+    this->or_parent_->output(value);
+    this->or_parent_->has_value_ = true;
+  }
 
   return {};
 }
 optional<float> OrFilter::new_value(float value) {
+  this->has_value_ = false;
   for (Filter *filter : this->filters_)
     filter->input(value);
 
diff --git a/esphome/components/sensor/filter.h b/esphome/components/sensor/filter.h
index 1a08699d7b..c13cb3420a 100644
--- a/esphome/components/sensor/filter.h
+++ b/esphome/components/sensor/filter.h
@@ -388,6 +388,7 @@ class OrFilter : public Filter {
   };
 
   std::vector<Filter *> filters_;
+  bool has_value_{false};
   PhiNode phi_;
 };