diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index fb377e2be2..b1d469025b 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -706,11 +706,7 @@ void ESPBTDevice::parse_adv_(const esp_ble_gap_cb_param_t::ble_scan_result_evt_p
   while (offset + 2 < len) {
     const uint8_t field_length = payload[offset++];  // First byte is length of adv record
     if (field_length == 0) {
-      if (offset < param.adv_data_len && param.scan_rsp_len > 0) {  // Zero padded advertisement data
-        offset = param.adv_data_len;
-        continue;
-      }
-      break;
+      continue;  // Possible zero padded advertisement data
     }
 
     // first byte of adv record is adv record type