diff --git a/esphome/components/voice_assistant/__init__.py b/esphome/components/voice_assistant/__init__.py
index d05f39072c..59aef901f2 100644
--- a/esphome/components/voice_assistant/__init__.py
+++ b/esphome/components/voice_assistant/__init__.py
@@ -57,6 +57,9 @@ StopAction = voice_assistant_ns.class_(
 IsRunningCondition = voice_assistant_ns.class_(
     "IsRunningCondition", automation.Condition, cg.Parented.template(VoiceAssistant)
 )
+ConnectedCondition = voice_assistant_ns.class_(
+    "ConnectedCondition", automation.Condition, cg.Parented.template(VoiceAssistant)
+)
 
 
 def tts_stream_validate(config):
@@ -298,3 +301,12 @@ async def voice_assistant_is_running_to_code(config, condition_id, template_arg,
     var = cg.new_Pvariable(condition_id, template_arg)
     await cg.register_parented(var, config[CONF_ID])
     return var
+
+
+@register_condition(
+    "voice_assistant.connected", ConnectedCondition, VOICE_ASSISTANT_ACTION_SCHEMA
+)
+async def voice_assistant_connected_to_code(config, condition_id, template_arg, args):
+    var = cg.new_Pvariable(condition_id, template_arg)
+    await cg.register_parented(var, config[CONF_ID])
+    return var
diff --git a/esphome/components/voice_assistant/voice_assistant.h b/esphome/components/voice_assistant/voice_assistant.h
index 66bf4c3c57..f9325dff54 100644
--- a/esphome/components/voice_assistant/voice_assistant.h
+++ b/esphome/components/voice_assistant/voice_assistant.h
@@ -222,6 +222,11 @@ template<typename... Ts> class IsRunningCondition : public Condition<Ts...>, pub
   bool check(Ts... x) override { return this->parent_->is_running() || this->parent_->is_continuous(); }
 };
 
+template<typename... Ts> class ConnectedCondition : public Condition<Ts...>, public Parented<VoiceAssistant> {
+ public:
+  bool check(Ts... x) override { return this->parent_->get_api_connection() != nullptr; }
+};
+
 extern VoiceAssistant *global_voice_assistant;  // NOLINT(cppcoreguidelines-avoid-non-const-global-variables)
 
 }  // namespace voice_assistant