diff --git a/esphome/components/esp32_improv/esp32_improv_component.cpp b/esphome/components/esp32_improv/esp32_improv_component.cpp
index a6037a773c..d90eaac3b6 100644
--- a/esphome/components/esp32_improv/esp32_improv_component.cpp
+++ b/esphome/components/esp32_improv/esp32_improv_component.cpp
@@ -293,7 +293,7 @@ void ESP32ImprovComponent::process_incoming_data_() {
         this->connecting_sta_ = sta;
 
         wifi::global_wifi_component->set_sta(sta);
-        wifi::global_wifi_component->start_scanning();
+        wifi::global_wifi_component->start_connecting(sta, false);
         this->set_state_(improv::STATE_PROVISIONING);
         ESP_LOGD(TAG, "Received Improv wifi settings ssid=%s, password=" LOG_SECRET("%s"), command.ssid.c_str(),
                  command.password.c_str());
diff --git a/esphome/components/improv_serial/improv_serial_component.cpp b/esphome/components/improv_serial/improv_serial_component.cpp
index 0325bad4df..40297bee68 100644
--- a/esphome/components/improv_serial/improv_serial_component.cpp
+++ b/esphome/components/improv_serial/improv_serial_component.cpp
@@ -196,7 +196,7 @@ bool ImprovSerialComponent::parse_improv_payload_(improv::ImprovCommand &command
       this->connecting_sta_ = sta;
 
       wifi::global_wifi_component->set_sta(sta);
-      wifi::global_wifi_component->start_scanning();
+      wifi::global_wifi_component->start_connecting(sta, false);
       this->set_state_(improv::STATE_PROVISIONING);
       ESP_LOGD(TAG, "Received Improv wifi settings ssid=%s, password=" LOG_SECRET("%s"), command.ssid.c_str(),
                command.password.c_str());
diff --git a/esphome/components/wifi/wifi_component.cpp b/esphome/components/wifi/wifi_component.cpp
index 15a994d8eb..8f46bf29a0 100644
--- a/esphome/components/wifi/wifi_component.cpp
+++ b/esphome/components/wifi/wifi_component.cpp
@@ -661,12 +661,19 @@ void WiFiComponent::retry_connect() {
 
   delay(10);
   if (!this->is_captive_portal_active_() && !this->is_esp32_improv_active_() &&
-      (this->num_retried_ > 5 || this->error_from_callback_)) {
-    // If retry failed for more than 5 times, let's restart STA
-    ESP_LOGW(TAG, "Restarting WiFi adapter...");
-    this->wifi_mode_(false, {});
-    delay(100);  // NOLINT
-    this->num_retried_ = 0;
+      (this->num_retried_ > 3 || this->error_from_callback_)) {
+    if (this->num_retried_ > 5) {
+      // If retry failed for more than 5 times, let's restart STA
+      ESP_LOGW(TAG, "Restarting WiFi adapter...");
+      this->wifi_mode_(false, {});
+      delay(100);  // NOLINT
+      this->num_retried_ = 0;
+    } else {
+      // Try hidden networks after 3 failed retries
+      ESP_LOGD(TAG, "Retrying with hidden networks...");
+      this->fast_connect_ = true;
+      this->num_retried_++;
+    }
   } else {
     this->num_retried_++;
   }